Dakar American University of Science & Technology

Module : Robotics
LECTURE 2

Khaled KHNISSI
Email : khaledkhnissi@gmail.com

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 Outline of the lecture
1. Introduction : How a robot manipulator is build ?
OUTLINE 2. What is robotics?
a) Some basic definitions
b) Classification of robots
c) Main components of a robot manipulator
d) Terminology
3. Robot characterization
a) Geometry
b) Workspace
c) Accuracy and repeatability
d) Resolution, payload and cycle-time
e) Speed and acceleration
4. Robot structures
a) SCARA robots
b) Cylindrical robots
c) Spherical robots
d) Cartesian robots
e) Parallel robots
f) Anthropomorphic robots
Khaled KHNISSI
5. Application examples (simple tasks, complex tasks)
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 Introduction

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res
Introduction
Applications

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING
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 Introduction

Introduction A robot manipulator is typically constructed using a combination of

mechanical, electrical, and electronic components to create a system
capable of precise and controlled movements. Here's a simplified overview
Origin o f Robotics
of how a robot manipulator is built:

D e f i n i t ions • 1. Mechanical Structure

• 2. Actuators
• 3. Control System
Classification • 4. Power Supply
• 5. Sensors
Research & Apps

Conclusion

Pro. : Khaled KHNISSI

MECHANICAL & AEROSPACE

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 How a robot manipulator is build ?
https://www.youtube.com/watch?v=tkDbmWAyHYw&t=124s&ab_channel=rasmasyean
Introduction

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Applications

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING
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 Introduction

What i s robotics?

C h a r a c t e r i z a t i on

Some basic definitions

Structu res

Applications

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE CAE 7000 Filght Simulator

ENGINEERING
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 Some basic definitions

Introduction The term Robot is coined from the Czech word robota meaning labor
The first person to use the term robotics is the fiction writer Asimov in a short
What i s robotics? story composed in the 1940s

 In the story, Asimov suggested three principles to guide the behavior of robots
C h a r a c t e r i z a t i on
 They are called Three Laws of Robotics, and they have survived to the present:
1. Robots must never harm human beings
Structu res
2. Robots must obeys the orders from humans without violating rule 1

Applications 3. Robots must protect its own existence without violating the other rules

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

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 Some basic definitions

Introduction A more technical definition of a robot (RIA):

 It is a reprogrammable multifunctional manipulator designed to move
What i s robotics?
material, parts, tools or specialized devices through variable programmed
motions for the performance of a variety of tasks
C h a r a c t e r i z a t i on
 Robotics is an interdisciplinary field requiring:

Structu res  Mechanical Engineering

 Electronics
Applications  Computer Science
 Artificial intelligence
Robot C o n t r o l  Automatic control

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 Some basic definitions

Introduction

Actuators Articulated Mechanical Structure Proprioceptive Sensors

What i s robotics?

C h a r a c t e r i z a t i on
Environment
Exteroceptive sensors
Structu res

Applications

Robot C o n t r o l
Control System
Khaled KHNISSI and Processing Data
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 Robots classification

Introduction
Serial Robot
Kuka KR 16-2
Robot
What i s robotics? manipulators
Pioneer
Parallel Robots
C h a r a c t e r i z a t i on Adept Quattro

Robots Wheeled mobile

Robots
Structu res Bipeds
Ground
Robots Honda Asimo Exokeletons

Mobile Robots Legged Robots

Applications Quadrupeds

Underwater Boston dynamics BIGDOG

Robot C o n t r o l Robots
Hexapodes
SeaBotix LBV300S-6

Khaled KHNISSI Lynxmotion Phoenix 3ddl Hexapod

Aerial Robots
MECHANICAL & AEROSPACE Faucon ONERA
ENGINEERING 10
 Classification of robot manipulators
Introduction Serial Robots
Sequential Movement: Serial robots, also known as serial
manipulators, have a single serial chain of links and joints,
Origin o f Robotics where each joint is connected to the one before it in a
sequence. The movement is sequential, meaning that one
joint must move before the next can move.
Precision and Accuracy: Serial robots are typically known for
D e f i n i t ions their precision and accuracy in controlled environments. They
are often used for tasks that require high repeatability and
fine positional accuracy, such as industrial applications like
assembly, welding, and machining.
Classification Workspace: Serial robots typically have a larger workspace
compared to parallel robots, which can be advantageous for
certain applications where a wide range of motion is required.
Research & Apps Singularities: Serial robots may be more susceptible to
singularities, which are configurations where the robot's
movement becomes constrained, limiting its ability to move
smoothly. Singularities can be problematic in certain
Conclusion situations.
Payload Capacity: Serial robots are often designed with higher
payload capacities, making them suitable for heavy lifting and
industrial applications.
Pro. : Khaled KHNISSI
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Parallel Robots
Parallel Movement: Parallel robots, also known as parallel
manipulators, consist of multiple kinematic chains (legs) that
are connected in parallel to the end-effector. This
configuration allows multiple joints to move simultaneously,
providing faster and more coordinated movement.
Speed and Dynamic Performance: Parallel robots are known
for their high speed and dynamic performance, making them
suitable for applications that require rapid and precise
motion, such as flight simulators and certain types of CNC
machining.
Stiffness: Parallel robots tend to be stiffer and more rigid than
serial robots, which can be advantageous for applications
requiring high force and stiffness, such as machining and
heavy-duty industrial tasks.
Singularities: Parallel robots are less susceptible to
singularities compared to serial robots, providing more
predictable and stable movement in various situations.
Payload Capacity: Parallel robots may have lower payload
capacities compared to serial robots, although this can vary
depending on the specific design.
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 Classification of robot manipulators

Introduction Serial robots Parallel robots

Two classes of Deux classes de robots

What i s robotics?
manipulateurs industriels

C h a r a c t e r i z a t i on

Structu res

Applications

Robot C o n t r o l

 Workspace  Rigidity
Khaled KHNISSI

 Precision  Speed
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 Main components of a robot manipulator

Example: Illustration of the components in case of the robot STAUBLI RX90L

Introduction

What i s robotics? Actuators(inside)

C h a r a c t e r i z a t i on

Structu res
Sensors (inside)

Environment
Applications

Robot C o n t r o l

Khaled KHNISSI
The control system and the power supply The mechanical structure (manipulator)
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 Terminology
 End-Effector: The end-effector, also known as the robot's "hand" or "tool," is the part of the robot that interacts with
Introduction the environment to perform tasks. It can be a gripper, welding torch, sensor, or any other tool designed for specific
applications.
 Degrees of Freedom (DOF):Degrees of freedom represent the number of independent motions or axes that a robot
What i s robotics? or its manipulator possesses. For example, a robot arm with six DOF can move independently in six different
directions or rotate around six different axes.
 Workspace: The workspace of a robotic manipulator refers to the three-dimensional volume or region in which the
C h a r a c t e r i z a t i on end-effector can move and perform tasks. It defines the reachable area for the robot.
 Kinematics: is the branch of robotics that deals with the study of motion, position, and velocity of robot manipulators
without considering the forces and torques involved. It is concerned with solving problems related to robot
Structu res positioning and trajectory planning.
 Inverse Kinematics: is the process of determining the joint angles or positions required to place the robot's end-
effector in a desired position and orientation in its workspace. It is crucial for motion planning and control.
Applications  Forward Kinematics: involves calculating the position and orientation of the robot's end-effector based on the known
joint angles or positions. It determines how the robot's parts are arranged in space.
 Singularities: are configurations in which a robotic manipulator's motion becomes degenerate or constrained. At
Robot C o n t r o l singularities, the Jacobian matrix becomes singular, leading to limited or unstable motion.
 Joint Limits: Joint limits specify the range of motion or allowed positions for each joint in a robot manipulator. They
prevent the robot from moving beyond its mechanical constraints.
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 Terminology

 Open kinematic chain: An open kinematic chain, often referred to as an "open

Introduction
chain" or simply an "end-effector," is a configuration in which the robot's links and
joints are arranged in a linear sequence, and there is a distinct endpoint or end-
What i s robotics?
effector at the final link. In an open kinematic chain, the movement of one joint or
link is generally independent of the movement of other joints or links in the chain.
C h a r a c t e r i z a t i on These robots are often designed for tasks requiring precision and fine control, such
as robotic arms used in manufacturing or medical surgery.
Structu res  Closed kinematic chain: A closed kinematic chain, also known as a "closed
chain," is a configuration in which the robot's links and joints are arranged in a loop
Applications or a closed-loop structure. In a closed kinematic chain, the motion of one joint or
link is interdependent on the motion of other joints or links in the chain due to the
closed-loop structure. Closed chains are often employed in applications that require
Robot C o n t r o l
stability, force distribution, and mechanical advantage. Examples include robotic leg

Khaled KHNISSI
mechanisms, where multiple joints work together to support the robot's weight and
maintain balance.
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 Introduction

What i s r o b o t i c s ?

Characterization

Structu res
Robot characterization
Applications

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE Parallel machine tool, EXECON

ENGINEERING
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 Robot geometry

Introduction • Joints: The common used joints in robotics are the following:

What i s r o b o t i c s ?

Characterization
Revolute (R) Prismatic (P) Universal (U) Spherical (S)
Structu res

One dof (Rotation) One dof (Translation) Two dofs (rotations) Three dofs (rotations)
Applications
A revolute joint is schematized A prismatic joint is schematized
by one of the following symbols: by one of the following symbols:
Robot C o n t r o l

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Joint
Introduction Revolute Joint (R or
Hinge Joint)
Origin o f Robotics Prismatic Joint (P or
Slider Joint)
D e f i n i t ions Spherical Joint (S or Ball-
and-Socket Joint)
Classification Cylindrical Joint (C)
Research & Apps Universal Joint (U or
Cardan Joint)
Conclusion Planar Joint (2D)
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Fixed Joint
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Robot geometry
Description
• Description: A revolute joint allows rotation around a single axis, similar to a hinge or door pivot. It is the most
common type of joint used in robotic arms and manipulators.
• Applications: Revolute joints are used for various motions, including arm movement, rotation of robot joints,
and articulation of fingers or limbs.
• Description: A prismatic joint allows linear or translational motion along a single axis. It typically involves sliding
one component along another.
• Applications: Prismatic joints are used for extending or retracting parts of a robot, such as in linear actuators
and telescoping arms.
• Description: A spherical joint allows rotation in multiple axes, providing three degrees of freedom. It resembles
the movement of a ball-and-socket joint in the human body.
• Applications: Spherical joints are used for achieving omnidirectional movement and orientation control in
robotic end-effectors, such as camera mounts.
• Description: A cylindrical joint combines a prismatic and a revolute joint. It allows linear motion along one axis
and rotation around another perpendicular axis.
• Applications: Cylindrical joints are used in robotic arms and manipulators for tasks that require both linear and
rotational motions.
• Description: A universal joint allows rotational motion around two intersecting axes, providing two degrees of
freedom.
• Applications: Universal joints are used in applications where a mechanism needs to transmit motion between
non-parallel shafts, such as drive shafts in vehicles.
• Description: A planar joint restricts movement to a single plane, typically with two rotational degrees of
freedom and one translational degree of freedom.
• Applications: Planar joints are used in 2D robotic systems and mechanisms, such as drawing robots and
conveyor belts.
• Description: A fixed joint, as the name suggests, does not allow any relative motion between connected parts.
It rigidly connects two components.
• Applications: Fixed joints are used to maintain the fixed relationships between parts in a robot's structure.
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 Robot geometry

Introduction • Geometrical features:

What i s r o b o t i c s ?
Characterization
Structu res
 Number of axes (equipped with actuator)
 Structure (serial or parallel)
 Articulations arrangement
 Mobility: Number of degrees of freedom (dof)

Exemples :
Applications
o 3 axes, serial, RRR, 3 dof
Robot C o n t r o l

Khaled KHNISSI
o 3 axes, serial, PPP, 3 dof
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 Robot workspace

Introduction •Workspace: is the maximum robot reach, or volume within

which a robot can operate. This is usually specified as a
What i s r o b o t i c s ?
combination of the limits of each of the robot's parts.
This volume depends on:
Characterization
 the geometry of the robot,
Structu res
 the lengths of links,
 the ranges of joints
Applications
Examples :
Robot C o n t r o l

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 Robot accuracy & repeatability

Introduction
Joint Accuracy Repeatability

Definition Accuracy refers to how close a robot's actual
Origin o f Robotics position or measurement is to the desired or target
position or measurement. It quantifies how well the
robot can achieve the correct values or positions.
D e f i n i t ions Measurement Accuracy is typically measured by comparing the
robot's actual position or measurement to a known
or desired reference point or value. It is often
expressed as an error or the difference between the
Classification actual and desired values.
Application High accuracy is particularly important in
applications where precise positioning,
Research & Apps measurement, or control is critical. For example,
surgical robots require high accuracy to perform
delicate procedures.
Trade-Off Achieving high accuracy may involve trade-offs in
Conclusion terms of cost and complexity, as precision often
requires more advanced sensors, calibration, and
control systems.
Pro. : Khaled KHNISSI
Repeatability, on the other hand, refers to the robot's
ability to consistently return to the same position or
measurement when performing the same task multiple
times under the same conditions. It quantifies the
consistency of the robot's performance.
Repeatability is measured by assessing the variation in
the robot's performance when repeating the same task
multiple times. It is usually expressed as a standard
deviation or a percentage of variation.
Repeatability is crucial in applications where the same
task needs to be performed repeatedly, such as in
industrial automation, pick-and-place operations, and 3D
printing.
Repeatability is more about consistency and can often
be improved through mechanical design and control
system tuning without significantly increasing costs.

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 Resolution, payload and cycle-time

Introduction •Resolution: is the smallest incremental change in position that it make or its
control system can measure
What i s r o b o t i c s ?

Characterization • Payload: is the ability to carry, continuously and satisfactorily, a given

maximum weight at a given speed
Structu res

Applications •Cycle-time: is the time necessary for the robot to complete a pick-and- place
cycle that needs to pick-up a given object at a given height, moving to a given
Robot C o n t r o l distance, lowering and releasing it, and returning to the starting position

Khaled KHNISSI

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 Maximum acceleration and speed

Introduction •Maximum Speed: is the amount of distance per unit time at which the
robot can move, usually specified in m/s. The speed is usually specified at
What i s r o b o t i c s ?
a specific load or assuming that the robot is carrying a fixed weight. The
Characterization robot’s manufacturers often give the maximum linear velocity of the end-
effector
Structu res

Applications

• Maximum acceleration: is the amount of distance per unit time square at

Robot C o n t r o l
which the robot can move, usually specified in m/s2 or g.
Khaled KHNISSI
It highly depends on inertia, and therefore on the position of the robot
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 Illustration through a Datasheet (Example 1)

Introduction

What i s r o b o t i c s ?

Characterization

Structu res

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Illustration through a Datasheet (Example 2)

Introduction

What i s r o b o t i c s ?

Characterization

Structu res

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Introduction

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

St r uct ur es
Robot Structures
Applications

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING  Yaskawa
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 Robot structures

Introduction
 Open kinematic chain is the fundamental structure of a robot manipulator
 Tasks required of manipulators is to position and orient the end-effector in space
 At least 3 degrees of freedom are needed in 3D workspace
What i s r o b o t i c s ?
 Classification of robots manipulators leads to the following classes:

C h a r a c t e r i z a t i on SCARA robots
Cylindrical robots
St r uct ur es
Spherical robots
Applications Cartesian robots
Parallel robots
Robot C o n t r o l
Anthropomorphic robots
Khaled KHNISSI

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These different structures will be detailed in the following
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 Robot structures

Introduction Types of robots Description

SCARA • SCARA (Selective Compliance Assembly Robot Arm) robots are a type of industrial robot known for their
cylindrical work envelope and rigid, selective compliance in the vertical direction. They have two parallel rotary
joints for horizontal motion and a prismatic joint for vertical motion. SCARA robots are often used in assembly,
Origin o f Robotics pick-and-place tasks, and applications that require precise horizontal movement.
Cylindrical • Cylindrical robots, also known as polar robots, have a cylindrical-shaped workspace and are typically
characterized by a vertical rotary joint (for rotation) and a prismatic joint (for linear movement) arranged in a
polar configuration. They excel in tasks requiring extended reach in the vertical direction and rotational
D e f i n i t ions manipulation, such as CNC machining and material handling.
Spherical • Spherical robots, also known as polar or spherical-coordinate robots, have a spherical-shaped workspace. They
consist of three rotary joints arranged in a polar or spherical configuration, allowing for movement in all
directions within a spherical volume. These robots are used in applications where a full range of motion is
Classification needed, such as 3D printing and inspection of spherical objects.
Cartesian • Cartesian robots, also known as gantry robots, operate within a Cartesian coordinate system, utilizing linear
actuators for movement along the X, Y, and Z axes. They offer precise and straightforward motion control,
making them suitable for applications like CNC milling, 3D printing, and material handling in controlled
Research & Apps environments.
Parallel • Parallel robots, also referred to as parallel manipulators, are characterized by multiple kinematic chains (legs)
that connect the robot's end-effector to its base. These robots provide high stiffness, accuracy, and dynamic
performance. They are often used in applications requiring rapid, precise, and coordinated motion, such as
Conclusion flight simulators and certain types of manufacturing processes.
Anthropomorphic • Anthropomorphic robots, also known as human-like or humanoid robots, are designed to mimic human
characteristics in terms of appearance and/or motion. They often have multiple joints, limbs, and sensors to
Pro. : Khaled KHNISSI achieve human-like dexterity and interaction capabilities. These robots are used in various applications,
including research, entertainment, healthcare, and social interaction, with the aim of enhancing human-robot
MECHANICAL & AEROSPACE collaboration and communication.
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 SCARA robots

Introduction
SCARA : Selective Compliance Articulated Robot for Assembly

What i s r o b o t i c s ?
Main features
• 3 axes, serial, RRP, 3 dof
• Cylindrical workspace
C h a r a c t e r i z a t i on
• Accurate
• Very fast
St r uct ur es
Examples :
IAI série IX Sankyo RS60 Adept Cobra s350
Applications

Robot C o n t r o l

Khaled KHNISSI

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 Cylindrical robots

Introduction
Main features
What i s r o b o t i c s ?
• 3 axes, serial, RPP, 3 dof
• Cylindrical workspace
• very fast
C h a r a c t e r i z a t i on

Cylindrical
Examples :
St r uct ur es
Denso CS4130A ST-Robotics R19E Seiko RT33

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Spherical robots

Introduction
Main features
What i s r o b o t i c s ? • 3 axes, serial, RRP, 3 dof
• Spherical workspace
• Big payload
C h a r a c t e r i z a t i on
Spherical
Examples :
St r uct ur es
Fanuc L-1000 Unimate 2000 CSI C400i

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Cartesian robots

Introduction
What i s r o b o t i c s ?
C h a r a c t e r i z a t i on
St r uct ur es
Main features
• 3 axes, serial, PPP, 3 dof
• large workspace
• very good accuracy
• relatively slow
Cartesian
Examples :

Fisnar FN9300N Competella Spider Orbital DASA

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Parallel robots

Introduction
Main features
• Parallel kinematic chains
What i s r o b o t i c s ? • Small workspace
• Very Accurate
C h a r a c t e r i z a t i on • Very rigid
• Very fast Parallel
St r uct ur es Examples :
Adept Quattro Flight Simulator CAE ABB Flexpicker
Applications

Robot C o n t r o l

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 Anthropomorphic robots

Introduction

Main features
What i s r o b o t i c s ? • Reproduce the hman arm structure
• 3/6 axes, serial, RRR/6R, 6 dof
C h a r a c t e r i z a t i on
Anthropomorphic
Examples :
St r uct ur es
Kawasaki FS03N Adept Viper S650 Kuka KR SIXX R650

Applications

Robot C o n t r o l

Khaled KHNISSI

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 Introduction

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res
Application examples
Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING  Yaskawa
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 Some considerations in robots selection

Introduction Criteria for robot selection :

 Robot must be matched properly by capabilities to task requirement:
What i s r o b o t i c s ?
Technical issues:
o Workspace, payload, cycle time, repeatability, actuation, … etc
Non technical issues:
C h a r a c t e r i z a t i on
o Cost and benefit consideration
o Training an maintenance requirement
Structu res
o Reliability and safety

Appl i cat i ons

Applications tasks: can be classified into two classes

Robot C o n t r o l
 Simple tasks: painting, palletizing, welding, etc
Khaled KHNISSI
Complex tasks: such as machining, cutting, medical applications, etc
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 Application examples

Introduction Utilization for simple tasks

What i s r o b o t i c s ?
Welding robots
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE Spot welding robots Arc welding robot

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 Application examples

Introduction
Welding robots
https://www.youtube.com/watch?v=rbki4HR41-4&ab_channel=FANUCEurope

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

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 Application examples

Introduction Utilization for simple tasks

What i s r o b o t i c s ?
Palletizing robots
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI
KUKA palletizing robot NEWTEC palletizing robot
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 Application examples

Introduction Palletizing robots

https://www.youtube.com/watch?v=QfbdVboVNUM&ab_channel=JorgensenEngineering

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

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 Application examples

Introduction Utilization for simple tasks

What i s r o b o t i c s ?
Painting robots
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI
FANUC painting robot Painting robot in PSA (Cars manufacturer)
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 Application examples

Introduction Painting robots

https://www.youtube.com/watch?v=hm9ZSN37jVM&ab_channel=Okibo

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

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 Application examples

Introduction
Utilization for simple tasks

What i s r o b o t i c s ?
Polishing and simple packaging
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING
Polishing Packaging
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 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Robotized machining
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l
ABB milling robot MOTOMAN Drilling Robot
Khaled KHNISSI

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ENGINEERING 44
 Application examples

Introduction
Robotized machining
https://www.youtube.com/watch?v=CkZJ-zUqlhk&ab_channel=SpecialPatterns

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 45
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Cutting applications
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

JENOPTIK-VOTAN laser cutting robot I-Cubed 6600 ABB Water Jet Robot
ENGINEERING 46
 Application examples

Introduction
Laser Cutting
https://www.youtube.com/watch?v=DFqBoCP8D0w&ab_channel=DanRoboticsA%2FS

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 47
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Components assembly
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE Electronic components assembly Welding of electronic components

ENGINEERING 48
 Application examples

Introduction Components assembly

https://www.youtube.com/watch?v=ym64NFCWORY&ab_channel=SpecialPatternsSpecialPatterns

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 49
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Food packaging
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI ABB Flexpicker parallel robot Adept SCARA robot

Food packaging Food packaging
MECHANICAL & AEROSPACE
ENGINEERING 50
 Application examples

Introduction
Simple packaging
https://www.youtube.com/watch?v=X-WmAatNyrA

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 51
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Service robotics
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI
Fueling robot RT16 Home building robot
MECHANICAL & AEROSPACE
ENGINEERING 52
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?

Service robotics
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI Skywash service-robot DLR Rollin’ Justin robot

Outside cleaning of jumbo planes Assistance in daily tasks
MECHANICAL & AEROSPACE
ENGINEERING 50
 Application examples

Introduction Building robotics

https://www.youtube.com/results?search_query=building+construction+robot&sp=EgIYAQ%253D%253D

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 54
 Application examples
Utilization for complex tasks
Introduction

What i s r o b o t i c s ? Medical Robotics

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI
Intuitive Surgical Da Vinci
MECHANICAL & AEROSPACE
ENGINEERING Minimally invasive surgery 55
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Medical Robotics
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI
Twendy one robot Wheelchair with robot arm
MECHANICAL & AEROSPACE To assist elderly and disable people To assist disabled people
ENGINEERING 56
 Application examples

Introduction Medical Robotics

https://www.youtube.com/watch?v=vugOOuq256M&ab_channel=9NewsPerth9NewsPerth

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 57
 Application examples

Utilization for complex tasks

Introduction

What i s r o b o t i c s ?
Leisure applications
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE KUKA Robotcoaster

ENGINEERING 58
 Application examples

Introduction Leisure applications

https://www.youtube.com/watch?v=OHazT3y0WpI&ab_channel=MotorwardMotorward

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING 59
 Application examples

Introduction Utilization for complex tasks

What i s r o b o t i c s ?
Aerospace applications
C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

DEXTRE space mechanical arm Flight telerobotic servicer
ENGINEERING 60
 Application examples

Introduction Aerospace applications

https://www.youtube.com/watch?v=C5EeW-1evE4&ab_channel=VideoFromSpace

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res

Appl i cat i ons

Robot C o n t r o l

Khaled KHNISSI

MECHANICAL & AEROSPACE

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 Introduction

What i s r o b o t i c s ?

C h a r a c t e r i z a t i on

Structu res
What about robot c o n t r o l ?
Applications

Robot Control

Khaled KHNISSI

MECHANICAL & AEROSPACE

 KUKA
ENGINEERING
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 What about robot control?

Introduction
 Control theory has enabled solutions to fundamental

What i s r o b o t i c s ? problems in robotics

 Problems in robotics have motivated the development of new
C h a r a c t e r i z a t i on
control schemes

Structu res
 The early years of robotics was largely focused on
manipulator arms
Applications  For simple factory automation tasks (welding, painting, etc)
 Primary barriers to progress: Lack of good sensors, lack
Robot Control
powerful computers, lack of fundamental understanding of
Khaled KHNISSI robot control, etc
MECHANICAL & AEROSPACE
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 What about robot control?

Introduction Some key dates

- 1970’s : Classical control schemes
What i s r o b o t i c s ? - Mid 1980’s : Non-classical control
(CT, Feedback linearization, Robust control, Adaptive control, Passivity- based
C h a r a c t e r i z a t i on control)
- Late 1980’s : Teleoperation, mobile robotics
Structu res - 1990’s : Underactuation, visual servo Control, biped locomotion
- 2000’s : Networked control, Multi-agent systems, Swarm robotics
Applications - 2010’s : Cyberphysical systems
(massive networking, sensors, actuators, processors, databases, control
Robot Control software work together without the need to be collocated)

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 References

References

Khaled KHNISSI

MECHANICAL & AEROSPACE

ENGINEERING
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 References bibliographiques

References

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