10/18/2022

Hanoi University of Science and Technology

Industrial Robot

PhD. Le Duc Do
Email: do.leduc@hust.edu.vn

Lecturer Information:
Office:
Dept., Machine tools and Tribology, Faculty of
Mechanical Engineering, School of Mechanical
Engineering; No.213 – C10 HUST
E-mail:
Do.leduc@hust.edu.vn
Cellphone:
0915 331 881
Fax:

Position:
Lecturer, Director of Mechanical
Engineering Program
Research Interest:
- Machanical and automatic system design
- Automatic control system
- Machine analysis and machine stability
- Friction, wear and vibration in the machine,
- Longevity and reliability in mechanical system design

Syllabus
Introduction to the course

Course title: Industrial Robot

Course code: ME4216
Credit hours: 2(1-1-0-4)
- Lecture: 15 class hours
- Exercise: 15 class hours
Prerequisite courses: None

Prior courses: None

Parallel courses: None

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Introduction to the course

Student Duties
Class attendance: ≥ 80%
Homework
Lab works
Assessment
Mid-term grade: 0.3 (30%)
-Home exercise grading
-Project
-Lab work and reports
-Mid-tem test
Final exam (writing): 0.7 (70%)

Goal of this course

 Study the structure of the industrial robot:

mechanical systems, power, motors, controls.
 Study the method of investigation of kinematic
and dynamic of industrial robot.
 Study the control system.
 Learn how to design mechanical structure of
industrial robot.
 Hands-on experience

CHAPTER 1: BRIEF INTRODUCTION TO HISTORY OF

INDUSTRIAL ROBOT

CHAPTER 2: DEFINITION AND CLASSIFICATION OF ROBOT

CHAPTER 3: STRUCTURE OF INDUSTRIAL ROBOT (IR)

CHAPTER 4: THE FORWARD KINEMATIC OF IR

CHAPTER 5: THE INVERSE KINEMATIC OF IR

CHAPTER 6: INDUSTRIAL ROBOT DYNAMIC

CHAPTER 7: KUKA-HARMO ROBOT

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CHAPTER 8: TRAJECTORY PLANNING AND ROBOT CONTROL

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REFERENCES

[1] Jorge Angeles

Fundamentals of Robotic Mechanical systems,
Springer. 2006.
[2] GS.TSKH. Nguyễn Thiện Phúc
Robot Công Nghiệp
Nhà xuất bản Khoa học và kỹ thuật, 2006
[3] Kevin M. Lynch and Frank C. Park
Modern Robotics
The Cambridge University Press
[4] John J. Craig
Introduction to Robotics: Mechanics and Control
Pearson/Prentice Hall, 2022
[5] TS. Nguyễn Mạnh Tiến
Điều khiển Robot công nghiệp
Nhà xuất bản Khoa học và kỹ thuật, 2007
[6] Internet
Keyword: industrial robot |7|

Automation and Robotics in

Intelligent Environments
 Control of the physical environment
 Automated blinds
 Thermostats and heating ducts
 Automatic doors
 Automatic room partitioning
 Personal service robots
 House cleaning
 Lawn mowing
 Assistance to the elderly and handicapped
 Office assistants
 Security services

Some Favorite Robots

HAL 9000. 2001, A Space Odyssey: 1968

Data. Star Trek: TNG: 1987

Robby. Forbidden Planet: 1956

Wall-e: 2008 Optimus Prime: 2007-current

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Some 21st century robots

https://www.nasa.gov/mis http://www.irobot.com/en/ http://asimo.honda.com/ASIMO

http://www.irobot.com/ _DCTM/News/images/highres/A
sion_pages/msl/multimed us/robots/defense/packb
SIMO_offers_tea.jpg
ia/pia16763b.html ot.aspx

http://www.airforce- http://www.pleoworld
technology.com/project .com/pleo_rb/eng/life
s/predator-uav/ form.php
http://www.cmu.edu/cm
http://www.toyota-
global.com/innovation/partn
news/020906/020906_g
er_robot/concept.html race.html

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What is a robot?

 Definition:
 “A robot is a reprogrammable, multifunctional
manipulator designed to move material,
parts, tools, or specialized devices through
variable programmed motions for the
performance of a variety of tasks.” (Robot
Institute of America)
 Alternate definition: “A robot is a one-armed,
blind idiot with limited memory and which
cannot speak, see, or hear.”

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Robots
 Robota (Czech) = A worker of forced labor
From Czech playwright Karel Capek's 1921 play “R.U.R”
(“Rossum's Universal Robots”)
 Japanese Industrial Robot Association (JIRA) :
“A device with degrees of freedom that can be
controlled.”
 Class 1 : Manual handling device

 Class 2 : Fixed sequence robot

 Class 3 : Variable sequence robot

 Class 4 : Playback robot

 Class 5 : Numerical control robot

 Class 6 : Intelligent robot

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Industrial Evolution

4. Industrial revolution
Based on cyber-physical-
systems

3. Industrial revolution
Through the use of electronics
and IT further progression in
autonomous production

2. Industrial revolution
Introducing mass production

Level of complexity
lines powered by electric
energy

1. Industrial revolution
Introducing mechanical
production machines powered
by water and steam
Industry 1.0 Industry 2.0 Industry 3.0 Industry 4.0
End of the Beginning of the Beginning of the Today
18th century. 20th century 70th
Source: DFKI/Bauer IAO

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1. The 1st industrial revolution

 Started in 1784, opening a new era in human

history - an era of mechanical production
and mechanization.
 This industrial revolution was marked by an
important milestone that James Watt
invented the steam engine in 1784. This (1736-1819)
great invention sparked the spreading of
19th century CN. from England to Europe
and the United States.

https://vi.wikipedia.org/wiki/cách_
mạng_công_nghiệp_lần_thứ_1
https://www.youtube.com/watch?
v=RRKCehtZIp8 | 14 |

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2. The 2nd industrial revolution

 It took place from about 1870 to the

time of World War I (1914). The
feature of this revolution is the use of
electrical energy and the creation of
large-scale mass production lines.
Thomas Edison George Westinghouse Nikola Tesla
(1847-1931) (1846-1914) (1856-1943)
 The second industrial revolution took
place with the development of
electricity, transportation, chemistry,
steel production, and (especially) mass
production and consumption.

https://tuandc.com/cong-nghe/dinh-nghia-chinh-
xac-ve-cach-mang-cong-nghiep-4-0-lan-thu-
tu.html
https://vi.wikipedia.org/wiki/Cuộc_cách_mạng_cô
ng_nghiệp_lần_hai
| 15 |

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3. The 3rd industrial revolution

 Appeared around 1969, with the advent and
spread of information technology (IT), using
electronics and IT to automate production.
This revolution is often called the computer
revolution or the digital revolution because it
was catalyzed by the development of
Bill Gates Steve Jobs
(1955-current) (1955-2011) semiconductors, supercomputers, personal
computers (1970s and 1980s) and the
Internet ( 1990s).

https://tuandc.com/cong-nghe/dinh-nghia-
chinh-xac-ve-cach-mang-cong-nghiep-4-0-
lan-thu-tu.html
https://vi.wikipedia.org/wiki/Cuộc_cách_mạn
g_công_nghiệp_lần_ba

| 16 |

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Robots working in Amazon WH

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Changing Precision Technology Company (Smart phone

manufacturer)

Before After

Number of employees 650 60

Number of robots 0 65

Defects (%) 25% Below 5% (80%

reduction)
Production per person 8000 21000 (more
than 2.6 times)

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A Brief History of Robotics

 Mechanical Automata
 Ancient Greece & Egypt
 Water powered for ceremonies
 14th – 19th century Europe
 Clockwork driven for entertainment
 Motor driven Robots Maillardet’s Automaton
 1928: First motor driven automata
 1961: Unimate
 First industrial robot
 1967: Shakey
 Autonomous mobile research robot
 1969: Stanford Arm
 Dextrous, electric motor driven robot arm Unimate

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Group Question?
 According to you, how a robot will be
structured like?

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What subsystems make up a

robot?
 Robots have:
 Sensors
 Stationary base
 Mobile
 Effectors
 Control/Software
 Very similar to an agent!

23

Autonomous Robots
 The control of autonomous robots involves a
number of subtasks
 Understanding and modeling of the mechanism
 Kinematics, Dynamics, and Odometry
 Reliable control of the actuators
 Closed-loop control
 Generation of task-specific motions
 Path planning
 Integration of sensors
 Selection and interfacing of various types of sensors
 Coping with noise and uncertainty
 Filtering of sensor noise and actuator uncertainty
 Creation of flexible control policies
 Control has to deal with new situations

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Traditional Industrial Robots

 Traditional industrial robot control uses robot
arms and largely pre-computed motions
 Programming using “teach box”
 Repetitive tasks
 High speed
 Few sensing operations
 High precision movements
 Pre-planned trajectories and
task policies
 No interaction with humans

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Categories of Robots
 Manipulators
 Anchored somewhere: factory assembly lines,
International Space Station, hospitals.
 Common industrial robots
 Mobile Robots
 Move around environment
 UGVs, UAVs, AUVs, UUVs
 Mars rovers, delivery bots, ocean explorers
 Mobile Manipulators
 Both move and manipulate
 Packbot, humanoid robots

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Robots
 Robot Manipulators

 Mobile Robots

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Robots
 Walking Robots

 Humanoid Robots

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How do robots move?

 Simple joints (2D)

 Translation/Prismatic
 sliding along one axis
 square cylinder in square tube
 Rotation.Revolute — rotating
about one axis
 Compound joints (3D)
 ball and socket = 3 revolute
joints
 round cylinder in tube = 1
prismatic, 1 revolute

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Degrees of Freedom (DOF)

 Degrees of freedom = Number of independent directions a
robot or its manipulator can move
 3 degrees of freedom: 2 translation, 1 rotation
 6 degrees of freedom: 3 translation, 3 rotation
 How many degrees of freedom does your knee have? Your
elbow?
 Effective DOF vs controllable DOF:
 Underwater explorer might have up or down, left or right, rolling. 3
controllable DOF.
 Position includes x,y,z coordinates, yaw, roll, pitch. (together the pose or
kinematic state). 6 effective DOF.
 Holonomic: effective DOF = controllable DOF.

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According to Degree of Freedom:

o Translation - T
o Rotation - R

Workspace:

| 31 |

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In-class Exercise
 As a group, discuss an activity that you
think could be automated by using a
robot.
 Define the tasks that the robot will
perform.
 What kind of special tooling is required?
Sketch if you will use any.
 Can the activity be justified
economically? Show your development
– do not simply say yes or no.
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What are robots good at?

 What is hard for humans is easy for robots.
 Repetitive tasks.
 Continuous operation.
 Complicated calculations.
 Refer to huge databases.
 What is easy for a human is hard for robots.
 Reasoning.
 Adapting to new situations.
 Flexible to changing requirements.
 Integrating multiple sensors.
 Resolving conflicting data.
 Synthesizing unrelated information.
 Creativity.

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What tasks would you give

robots?
 Dangerous
 space exploration
 chemical spill cleanup
 disarming bombs
 disaster cleanup
 Boring and/or repetitive
 welding car frames
 part pick and place
 manufacturing parts.
 High precision or high speed
 electronics testing
 surgery
 precision machining.

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Application Fields

Welding Painting Assembly

Palletizing Loading Metal cutting

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Problems
 Traditional programming techniques for
industrial robots lack key capabilities necessary
in intelligent environments
 Only limited on-line sensing
 No incorporation of uncertainty
 No interaction with humans
 Reliance on perfect task information
 Complete re-programming for new tasks

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Requirements for Robots in

Intelligent Environments
 Autonomy
 Robots have to be capable of achieving task
objectives without human input
 Robots have to be able to make and execute their
own decisions based on sensor information
 Intuitive Human-Robot Interfaces
 Use of robots in smart homes can not require
extensive user training
 Commands to robots should be natural for
inhabitants
 Adaptation
 Robots have to be able to adjust to changes in the
environment

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Robots for Intelligent

Environments
 Service Robots
 Security guard
 Delivery
 Cleaning
 Mowing
 Assistance Robots
 Mobility
 Services for elderly and
People with disabilities

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Autonomous Robot Control

 To control robots to perform tasks
autonomously a number of tasks have to be
addressed:
 Modeling of robot mechanisms
 Kinematics, Dynamics
 Robot sensor selection
 Active and passive proximity sensors
 Low-level control of actuators
 Closed-loop control
 Control architectures
 Traditional planning architectures
 Behavior-based control architectures
 Hybrid architectures

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Modeling the Robot Mechanism

 Forward kinematics describes how the robots
joint angle configurations translate to locations
in the world
2 (x, y, z)
1

(x, y, )

 Inverse kinematics computes the joint angle

configuration necessary to reach a particular
point in space.
 Jacobians calculate how the speed and
configuration of the actuators translate into
velocity of the robot

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Mobile Robot Odometry

 In mobile robots the same configuration in
terms of joint angles does not identify a unique
location
 To keep track of the robot it is necessary to
incrementally update the location (this process is
called odometry or dead reckoning)
t  t t
x  x   vx 
     
 y    y    v y  t
      
     
 Example: A differential drive robot
r (L  R ) r (  R ) L R
v x  cos( ) , v y  sin( ) L
2 2 (x, y, )
r 

d

 L  R 

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Actuator Control
 To get a particular robot actuator to a particular
location it is important to apply the correct
amount of force or torque to it.
 Requires knowledge of the dynamics of the robot
 Mass, inertia, friction
 For a simplistic mobile robot: F = m a + B v
 Frequently actuators are treated as if they were
independent (i.e. as if moving one joint would not
affect any of the other joints).
 The most common control approach is PD-control
(proportional, differential control)
 For the simplistic mobile robot moving in the x direction:
F  K P xdesired  xactual   K D vdesired  vactual 

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Robot Navigation
 Path planning addresses the task of computing
a trajectory for the robot such that it reaches
the desired goal without colliding with obstacles
 Optimal paths are hard to compute in particular for
robots that can not move in arbitrary directions (i.e.
nonholonomic robots)
 Shortest distance paths can be dangerous since they
always graze obstacles
 Paths for robot arms have to take into account the
entire robot (not only the endeffector)

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Sensors
 Perceive the world
 Passive sensors capture signals generated by environment.
Background, lower power. E.G.: cameras.
 Active sensors probe the environment. Explicitly triggered,
more info, higher power consumption. E.G. sonar
 What are they sensing
 The environment: e.g. range finders, obstacle detection
 The robot’s location: e.g., gps, wireless stations
 Robot’s own internals: proprioceptive sensors. e.g.: shaft
decoders
 Stop and think about that one for a moment. Close your eyes - where’s
your hand? Move it - where is it now?

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What use are sensors?

 Uses sensors for feedback
 Closed-loop robots use sensors in
conjunction with actuators to gain higher
accuracy – servo motors.
 Uses include mobile robotics, telepresence,
search and rescue, pick and place with
machine vision, anything involving human
interaction

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Sensor-Driven Robot Control

 To accurately achieve a task in an intelligent
environment, a robot has to be able to react
dynamically to changes ion its surrounding
 Robots need sensors to perceive the environment
 Most robots use a set of different sensors
 Different sensors serve different purposes
 Information from sensors has to be integrated
into the control of the robot

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Some typical sensors

 Optical
 Laser / radar
 3D
 Color spectrum
 Pressure
 Temperature
 Chemical
 Motion & Accelerometer
 Acoustic
 Ultrasonic
 E-field Sensing

47

Robot Sensors
 Internal sensors to measure the robot
configuration
 Encoders measure the rotation angle of a joint

 Limit switches detect when the joint has reached the

limit

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Robot Sensors
 Proximity sensors are used to measure the distance or
location of objects in the environment. This can then be
used to determine the location of the robot.
 Infrared sensors determine the distance to an object by
measuring the amount of infrared light the object reflects back
to the robot
 Ultrasonic sensors (sonars) measure the time that an ultrasonic
signal takes until it returns to the robot

 Laser range finders determine distance by

measuring either the time it takes for a laser
beam to be reflected back to the robot or by
measuring where the laser hits the object

49

Robot Sensors
 Computer Vision provides robots with the
capability to passively observe the environment
 Stereo vision systems provide complete location
information using triangulation

 However, computer vision is very complex

 Correspondence problem makes stereo vision even more
difficult

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Effectors
 Take some kind of action in the world
 Involve movement of robot or subcomponent
of robot
 Robot actions could include
 Pick and place: Move items between points
 Continuous path control: Move along a
programmable path
 Sensory: Employ sensors for feedback (e-field
sensing)

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Some kinds of Actuators

 Actuators
 pneumatic
 hydraulic
 electric solenoid
 Motors
 Analog (continuous)
 Stepping (discrete increments)
 Gears, belts, screws, levers

52

Mobility
 Legs
 Wheels
 Tracks
 Crawls
 Rolls

53

Control - the Brain

 Open loop, i.e., no feedback,
deterministic
 Instructions
 Rules
 Closed loop, i.e., feedback
 Learn
 Adapt

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What are some problems with

control of robot actions?
 Joint play, compounded through… joints.
 Accelerating masses produce vibration, elastic
deformations in links.
 Torques, stresses transmitted depending on end
actuator loads.
 Feedback loop creates instabilities.
 Delay between sensing and reaction.
 Firmware and software problems
 Especially with more intelligent approaches

55

Robotic Perception
 Sensing isn’t enough: need to act on data sensed
 Hard because data are noisy; environment is
dynamic and partially observable.
 Must be mapped into an internal representation
 state estimation
 Good representations
 contain enough information for good decisions
 structured for efficient updating
 natural mapping between representation and real
world.

56

Some Perception Problems

 Localization: where is the robot, where are
other things in the environment
 landmarks
 range scans
 Mapping: no map given, robot must
determine both environment and position.
 Simultaneous localization and mapping
 Probabilistic approaches typical, but
cumbersome

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Software Architectures
 Low-level, reactive control
 bottom-up, sensor results directly trigger
actions
 Model-based, deliberative planning
 top-down, actions are triggered based on
planning around a state model

58

 Popular robot brands

UR
 Universal Robot
 Universal Robots was formally
founded by Esben Østergaard,
Kasper Støy and Kristian Kassow,
the founders met at the Danish https://www.universal-robots.com/vn/v%E1%BB%81-
c%C3%B4ng-ty-universal-robots/l%E1%BB%8Bch-
s%E1%BB%AD-th%C3%A0nh-l%E1%BA%ADp-
University. Objective: to help c%C3%B4ng-ty/

SMEs access robotics technology.

https://www.youtube.com/watch?v=m68i5d8VpHY
The company was founded with
an investment from Syddansk
https://en.wikipedia.org/wiki/Universal_Robots
Innovation.

59

 Popular robot brands

 ABB Robot

 ABB Group - Switzerland

https://www.weldcom.vn/nv383/goi-y-dia-chi-
mua-robot-abb-chinh-hang-tai-viet-nam.html

https://new.abb.com/vn

https://cafef.vn/ban-robot-cho-vinfast-tap-doan-
thuy-dien-mo-trung-tam-ky-thuat-va-dich-vu-
robot-dau-tien-o-viet-nam-
20181205163535791.chn

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 Popular robot brands

 KUKA Robot

 KUKA Group Germany.

https://www.kuka.com/vi-vn
https://www.kuka.com/en-us

61

 Popular robot brands

 Mitsubishi Robot

 Japan Mitsubishi Corporation.

https://www.youtube.com/watch?v=1_FEQVVg0k0

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Chapter 2: Robot Configurations

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Robotics Terminology

Position: The translational (straight-line)

location of something.

Orientation: The rotational (angle) location

of something. A robot’s orientation is
measured by roll, pitch, and yaw angles.

Link: A rigid piece of material connecting

joints in a robot.

Joint: The device which allows relative A robot joint

motion between two links in a robot.
64

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Robot Configurations
Some of the commonly used configurations in Robotics are

 Cartesian/Rectangular Gantry(3P) : These Robots are made of

3 Linear joints that orient the end effector, which are usually
followed by additional revolute joints.

65

Robot Configurations (cont’d)

 Cylindrical (R2P): Cylindrical coordinate Robots have 2
prismatic joints and one revolute joint.

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Robot Configurations (cont’d)

 Spherical joint (2RP): They follow a spherical coordinate
system, which has one

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Robot Configurations (cont’d)

 Articulated/anthropomorphic(3R) :An articulated robot’s
joints are all revolute, similar to a human’s arm.

68

Robot Configurations (cont’d)

 Selective Compliance Assembly Robot Arm (SCARA)
(2R1P): They have two revolute joints that are parallel and
allow the Robot to move in a horizontal plane, plus an additional
prismatic joint that moves vertically

69

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Reference Frames
 World Reference Frame which is a universal coordinate frame,
as defined by the x-y-z axes. In this case the joints of the robot
move simultaneously so as to create motions along the three
major axes.

 Joint Reference Frame which is used to specify movements of

each individual joint of the Robot. In this case each joint may be
accessed individually and thus only one joint moves at a time.

 Tool Reference Frame which specifies the movements of the

Robots hand relative to the frame attached to the hand. The
x’,y’and z’ axes attached to the hand define the motions of the
hand relative to this local frame. All joints of the Robot move
simultaneously to create coordinated motions about the Tool
frame.

70

Robot Reference Frames

71

Work Envelope concept

 Depending on the configuration and size of
the links and wrist joints, robots can reach a
collection of points called a Workspace.

 Alternately Workspace may be found

empirically, by moving each joint through its
range of motions and combining all space it
can reach and subtracting what space it
cannot reach

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Robot Configurations
Some of the commonly used configurations in Robotics are

 Cartesian/Rectangular Gantry(3P) : These Robots are made of

3 Linear joints that orient the end effector, which are usually
followed by additional revolute joints.

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Cartesian Robot - Work

Envelope

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Robot Configurations (cont’d)

 Cylindrical (R2P): Cylindrical coordinate Robots have 2
prismatic joints and one revolute joint.

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Cylindrical Robot - Work

Envelope

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Robot Configurations (cont’d)

 Spherical joint (2RP): They follow a spherical coordinate
system.

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Spherical Robot - Work

Envelope

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Robot Configurations (cont’d)

 Articulated/anthropomorphic(3R) :An articulated robot’s
joints are all revolute, similar to a human’s arm.

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Robot Configurations (cont’d)

 Selective Compliance Assembly Robot Arm (SCARA)
(2R1P): They have two revolute joints that are parallel and
allow the Robot to move in a horizontal plane, plus an additional
prismatic joint that moves vertically

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Exercise
Readiness Assessment Test
AS A INDIVIDUAL, prepare a
detailed response for the following
Readiness Assessment test
What type of Robot Configuration does
the ABB 140 Robot or KUKA IR300
have?
Can you find out its Work
Space?

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WRIST
 typically has 3 degrees of freedom
 Roll involves rotating the wrist about the
arm axis
 Pitch up-down rotation of the wrist
 Yaw left-right rotation of the wrist
 End effector is mounted on the wrist

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WRIST MOTIONS

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End-effector: The tool, gripper, or other device mounted

at the end of a manipulator, for accomplishing useful
tasks.

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The Hand of a Robot: End-

Effector
The end-effector (commonly known as
robot hand) mounted on the wrist
enables the robot to perform specified
tasks. Various types of end-effectors are
designed for the same robot to make it
more flexible and versatile. End-
effectors are categorized into two major
types: grippers and tools.
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The Hand of a Robot: End-

Effector
Grippers are generally used to grasp
and hold an object and place it at a
desired location.
 mechanical grippers
 vacuum or suction cups
 magnetic grippers
 adhesive grippers
 hooks, scoops, and so forth
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The Hand of a Robot: End-

Effector
At times, a robot is required to
manipulate a tool to perform an
operation on a workpiece. In such
applications the end-effector is a tool
itself
 spot-welding tools
 arc-welding tools
 spray-painting nozzles
 rotating spindles for drilling
 rotating spindles for grinding 87

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Power Sources for Robots

 An important element of a robot is the
drive system. The drive system supplies
the power, which enable the robot to
move.
 The dynamic performance of a robot
mainly depends on the type of power
source.

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There are basically three types of

power sources for robots:

1. Hydraulic drive
 Provide fast movements

 Preferred for moving heavy parts

 Preferred to be used in explosive

environments
 Occupy large space area

 There is a danger of oil leak to the shop

floor
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2. Electric drive
 Slower movement compare to the
hydraulic robots
 Good for small and medium size robots

 Better positioning accuracy and

repeatability
 stepper motor drive: open loop control

 DC motor drive: closed loop control

 Cleaner environment

 The most used type of drive in industry

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3. Pneumatic drive
 Preferred for smaller robots

 Less expensive than electric or hydraulic

robots
 Suitable for relatively less degrees of

freedom design
 Suitable for simple pick and place

application
 Relatively cheaper

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Robotics Terminology
Speed
•The amount of distance per unit time at which the
robot can move, usually specified in inches per
second or meters per second.
•The speed is usually specified at a specific load or
assuming that the robot is carrying a fixed weight.
•Actual speed may vary depending upon the weight
carried by the robot.

Load Bearing Capacity

•The maximum weight-carrying capacity of the robot.
•Robots that carry large weights, but must still be
precise are expensive.

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Robot Movement and

Precision
Speed of response and stability are
two important characteristics of robot
movement.
 Speed defines how quickly the robot
arm moves from one point to another.
 Stability refers to robot motion with
the least amount of oscillation. A good
robot is one that is fast enough but at
the same time has good stability.
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Robot Movement and

Precision
Speed and stability are often conflicting
goals. However, a good controlling system
can be designed for the robot to facilitate
a good trade-off between the two
parameters.

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The precision of robot movement is

defined by three basic features:

1. Spatial resolution:
The spatial resolution of a robot is the
smallest increment of movement into
which the robot can divide its work
volume.
It depends on the system’s control
resolution and the robot's mechanical
inaccuracies.
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2. Accuracy:
Accuracy can be defined as the ability of a
robot to position its wrist end at a desired target
point within its reach. Or the ability of a robot to go
to the specified position without making a mistake.

In terms of control resolution, the accuracy

can be defined as one-half of the control
resolution.

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Accuracy

•This definition of accuracy applies in the worst case

when the target point is between two control points.The
reason is that displacements smaller than one basic
control resolution unit (BCRU) can be neither
programmed nor measured and, on average, they
account for one-half BCRU.

•It is impossible to position a machine exactly.

•Accuracy is therefore defined as the ability of the robot to

position itself to the desired location with the minimal
error (usually 25 mm).
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The accuracy of a robot is affected by

many factors. For example, when the
arm is fully stretched out, the
mechanical inaccuracies tend to be
larger because the loads tend to cause
deflection.

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3.Repeatability
• The ability of a robot to repeatedly position itself
when asked to perform a task multiple times. Or it
is the ability of the robot to position the end
effector to the previously positioned location.

• Accuracy is an absolute concept, repeatability is

relative.
• A robot that is repeatable may not be very
accurate, visa versa.

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4. Repeatability and accuracy

A
C +
+ ++
++
+ + ++
++ B +
+ +
+ + + ++

xxx x x
xxx x
xxx

xx
xx
xx xxxx
x x

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CONTROL METHODS
 Non Servo Control
 implemented by setting limits or
mechanical stops for each joint and
sequencing the actuation of each joint to
accomplish the cycle
 end point robot, limited sequence robot,
bang-bang robot
 No control over the motion at the
intermediate points, only end points are
known 101

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 Programming accomplished by
 setting desired sequence of moves
 adjusting end stops for each axis accordingly
 the sequence of moves is controlled by a
“squencer”, which uses feedback received from
the end stops to index to next step in the program
 Low cost and easy to maintain, reliable
 relatively high speed
 repeatability of up to 0.01 inch
 limited flexibility
 typically hydraulic, pneumatic drives

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 Servo Control
 Point to point Control
 Continuous Path Control
 Closed Loop control used to monitor
position, velocity (other variables) of
each joint

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Point-to-Point Control
 Only the end points are programmed,
the path used to connect the end points
are computed by the controller
 user can control velocity, and may
permit linear or piece wise linear motion
 Feedback control is used during motion
to ascertain that individual joints have
achieved desired location

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 Often used hydraulic drives, recent

trend towards servomotors
 loads up to 500lb and large reach
 Applications
 pick and place type operations
 palletizing
 machine loading

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Continuous Path Controlled

 in addition to the control over the
endpoints, the path taken by the end
effector can be controlled
 Path is controlled by manipulating the
joints throughout the entire motion, via
closed loop control
 Applications:
 spray painting, polishing, grinding, arc
welding

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ROBOT PROGRAMMING
 Typically performed using one of the
following
 On line
 teach pendant
 lead through programming
 Off line
 robot programming languages
 task level programming

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Use of Teach Pendant

 hand held device with switches used to
control the robot motions
 End points are recorded in controller
memory
 sequentially played back to execute
robot actions
 trajectory determined by robot
controller
 suited for point to point control
applications
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 Easy to use, no special programming

skills required
 Useful when programming robots for
wide range of repetitive tasks for long
production runs
 RAPID

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Lead Through Programming

 lead the robot physically through the
required sequence of motions
 trajectory and endpoints are recorded,
using a sampling routine which records
points at 60-80 times a second
 when played back results in a smooth
continuous motion
 large memory requirements

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Programming Languages
 Motivation
 need to interface robot control system to
external sensors, to provide “real time”
changes based on sensory equipment
 computing based on geometry of
environment
 ability to interface with CAD/CAM systems
 meaningful task descriptions
 off-line programming capability

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 Large number of robot languages

available
 AML, VAL, AL, RAIL, RobotStudio, etc.
(200+)
 Each robot manufacturer has their own
robot programming language
 No standards exist
 Portability of programs virtually non-
existent
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How do you measures of

performance of robot?
 Speed and acceleration
 Resolution
 Working volume
 Accuracy
 Cost
 Plus all the kinds of evaluation functions
we have talked about for any AI system.

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Measures of Performance
 Speed and acceleration
 Faster speed often reduces resolution or increases cost
 Varies depending on position, load.
 Speed can be limited by the task the robot performs (welding,
cutting)
 Resolution
 Often a speed tradeoff
 The smallest movement the robot can make
 Working volume
 The space within which the robot operates.
 Larger volume costs more but can increase the capabilities of a
robot

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Tomorrow’s problems
 Mechanisms
 Morphology: What should robots look like?
 Novel actuators/sensors
 Estimation and Learning
 Reinforcement Learning
 Graphical Models
 Learning by Demonstration
 Manipulation (grasping)
 What does the far side of an object look like? How heavy
is it? How hard should it be gripped? How can it rotate?
Regrasping?

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And more...
 Medical robotics
 Autonomous surgery
 Eldercare
 Biological Robots
 Biomimetic robots
 Neurobotics
 Navigation
 Collision avoidance
 SLAM/Exploration

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Self-X Robots
 Self-feeding
 Literally
 Electrically
 Self-replicating
 Self-repairing
 Self-assembly
 Self-organization
 Self-reconfiguration

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Traditional Human-Robot
Interface: Teleoperation
Remote Teleoperation: Direct
operation of the robot by the
user
 User uses a 3-D joystick or an
exoskeleton to drive the robot
 Simple to install
 Removes user from dangerous areas
 Problems:
 Requires insight into the mechanism
 Can be exhaustive
 Easily leads to operation errors

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Human-Robot Interaction
 Social robots
 In care contexts
 In home contexts
 In industrial contexts
 Comprehension
 Natural language
 Grounded knowledge acquisition
 Roomba: “Uh-oh”

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Motivations
 Robots are getting smaller, cheaper, and more ubiquitous
 Humans need to interact with and instruct them, naturally
 Language, gesture, demonstration, …
 Key requirements:
 Language understanding learned from data
 Follow instructions in a previously unseen world
 Learn to parse natural language into robot-usable commands

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Human-Robot Interaction
 Social robots
 Safety/security
 Ubiquitous Robotics
 Small, special-purpose robots

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More Human-Robot Interaction

 How do humans handle it?
 Assumptions about retention and understanding
 Anthropomorphization
 How do robots make it easier?
 Apologize vs. back off
 Convey intent
 Cultural context (implicit vs. explicit
communication)

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Human-Robot Interaction in
Intelligent Environments
 Personal service robot
 Controlled and used by untrained users
 Intuitive, easy to use interface
 Interface has to “filter” user input
 Eliminate dangerous instructions
 Find closest possible action
 Receive only intermittent commands
 Robot requires autonomous capabilities
 User commands can be at various levels of complexity
 Control system merges instructions and autonomous
operation
 Interact with a variety of humans
 Humans have to feel “comfortable” around robots
 Robots have to communicate intentions in a natural way

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Intuitive Robot Interfaces:

Command Input
 Graphical programming interfaces
 Users construct policies form elemental blocks
 Problems:
 Requires substantial understanding of the robot
 Deictic (pointing) interfaces
 Humans point at desired targets in the world or
 Target specification on a computer screen
 Problems:
 How to interpret human gestures ?
 Voice recognition
 Humans instruct the robot verbally
 Problems:
 Speech recognition is very difficult
 Robot actions corresponding to words has to be defined

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Intuitive Robot Interfaces:

Robot-Human Interaction
 He robot has to be able to communicate its
intentions to the human
 Output has to be easy to understand by humans
 Robot has to be able to encode its intention
 Interface has to keep human’s attention without
annoying her
 Robot communication devices:
 Easy to understand computer screens
 Speech synthesis
 Robot “gestures”

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Human-Robot Interfaces
 Existing technologies
 Simple voice recognition and speech synthesis
 Gesture recognition systems
 On-screen, text-based interaction
 Research challenges
 How to convey robot intentions ?
 How to infer user intent from visual observation (how
can a robot imitate a human) ?
 How to keep the attention of a human on the robot ?
 How to integrate human input with autonomous
operation ?

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Conclusions
 Robots are an important component in Intelligent
Environments
 Automate devices
 Provide physical services
 Robot Systems in these environments need particular
capabilities
 Autonomous control systems
 Simple and natural human-robot interface
 Adaptive and learning capabilities
 Robots have to maintain safety during operation
 While a number of techniques to address these
requirements exist, no functional, satisfactory solutions
have yet been developed
 Only very simple robots for single tasks in intelligent
environments exist

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Some good robotics videos

 Swimming fish:
 http://www.aa.washington.edu/research/ndcl/videos/ThreeFishAndShark.m4v
 http://www.newscientist.com/article/dn14101-shoal-of-robot-fish-casts-a-wider-
data-net.html
 Robot games:
 http://robogames.net/videos.php
 https://www.grasp.upenn.edu
 Social robots:
 http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet/kismet.html
 Swarms
 http://www.eecs.harvard.edu/ssr/projects/cons/termes.html
 http://www.swarmanoid.org/
 https://www.youtube.com/watch?v=YQIMGV5vtd4
 Miscellaneous Robots:
 Bigdog: http://www.aaaivideos.org/2008/big_dog/
 Laundry: http://www.eecs.berkeley.edu/~pabbeel/

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Will robots take over the

world?
 Which decisions can the machine make without human
supervision?
 May machine-intelligent systems make mistakes (at the
same level as humans)?
 May intelligent systems gamble when uncertain (as
humans do)?
 Can (or should) intelligent systems exhibit personality?
 Can (or should) intelligent systems express emotion?
 How much information should the machine display to the
human operator?

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