Topics Covered

● Trajectory planning and avoidance of obstacles, Path

Unit IV planning,

● Skew motion, joint integrated motion –straight line motion

General Considerations in Path
Description, Generation &
Robot Actuators
● Robot programming, languages, and software packages-
● Description of paths with a robot programming language
● Actuators: Pneumatic, Hydraulic actuators, Electric &
stepper motors
 Slew Motion

● The simplest form of motion.

● As the robot moves from point A to point B, each axis of the manipulator
travels as quickly as possible from its initial position to its final position.
● All axis begin moving at the same time, but each axis ends it motion in a
length of time that is proportional to the product of its distance moved and
its top speed (allowing for acceleration and deceleration)
● slew motion usually results in unnecessary wear on the joints and often
leads to unanticipated results in the path taken by the manipulator.

Example - A three axis manipulator with revolute joints starts with joint angles (40, 80,
-40)degrees, and must move to (120, 0, 0) degrees. Assume that the joints have maximum
absolute accelerations/decelerations of (50, 100, 150) degrees/sec/sec, and the maximum
velocities of (20, 40, 50) degrees/sec. Using slew motion, what is the travel time for each joint?

Straight-line motion
Joint Interpolated Motion
● In this method the tool of the robot travels in a straight line between
● A method of coordinating the movement of the joints, such that all the start and stop points.
joints arrive at the desired location simultaneously. ● This can be difficult, and lead to rather erratic motions when the
● Similar to slew motion, except all joints start, and stop at the same boundaries of the workspace are approached.
time. ● straight-line paths are the only paths that will try to move the tool
● In the for slew motion, all of the joints would have moved until all straight through space, all others will move the tool in a curved path.
stopping simultaneously at 4.4 seconds.
● This method only demands needed speeds to accomplish movements in
least times.
● This method of servo control produces a predictable path regardless of
speed and results in the fastest pick and place cycle time for a particular
move.
 Robot Programming Methods

● Robot programming is concerned with teaching the robot its work cycle
● The movements are taught by showing the robot the motion and
recording it into the robot's memory.
● A robot can do much more than merely move its arm through a series of
Robot Programming positions in space.
● Present technology robots can accept the input from sensors and other
devices
● They will communicate with computers to receive information and to
report data and problems
● All of these capabilities require programming.

https://youtu.be/EA6pWwNI_wg

Robot
Programming
https://youtu.be/I-M1x6aWPs8

Offline Online
Programming programming

Textual Manual Lead Power

Programming through Leadthrough
Lead through Programming Method:
● During this programming method, the traveling of robots is based on the
desired movements, and it is stored in the external controller memory.
● Lead the robot physically through a required sequence of motions.
● Trajectory and end points are recorded, using a sampling rate of 60-80Hz
● When played back results in a smooth continuous motion
● There are two modes of a control system in this method such as a run mode
and teach mode.
● The program is taught in the teach mode, and it is executed in the run mode.
The leadthrough programming method can be done by two methods
namely:
○ Powered Leadthrough Method
○ Manual Leadthrough Method

b) Manual Lead through Method:
○ In this method, end effector is moved robot’s physically by the
programmer at the desired movements.
○ Sometimes, it may be difficult to move large robot arm manually.
○ To get rid of it a teach button is implemented in the wrist for
special programming.
○ The manual lead through method is also known as Walk-Through
method.
○ It is mainly used to perform continuous path movements.
○ This method is best for spray painting and arc welding operations.
a) Powered Leadthrough Method:
○ The powered leadthrough is the common programming method in the
industries.
○ A teach pendant is incorporated in this method for controlling the
motors available in the joints.
○ It is also used to operate the robot wrist and arm through a sequence of
points.
○ The playback of an operation is done by recording these points.
The control of complex geometric moves is difficult to perform in
the teach pendant.
○ As a result, this method is good for point to point movements.
○ Some of the key applications are spot welding, machine loading &
unloading, and part transfer process.
Textual Robot Languages:
○ In 1973, WAVE language was developed,first textual robot language
○ It is used to interface the machine vision system with the robot.
○ AL language was introduced in 1974 for controlling multiple robot
arms during arm coordination.
○ VAL was invented in 1979, and it is the common textual robot
language. Later, this language was dated in 1984, and called VAL II.
○ The IBM Corporation has established their two own languages such
as AMLand AUTOPASS, which is used for the assembly operations.
○ Other important textual robot languages are Manufacturing Control
Language (MCL), RAIL, and Automatic Programmed Tooling (APT)
languages.
 ROBOT COMMUNICATION LINK TO Robot Language Elements
SYSTEMS OTHER FACTORY SYSTEMS
SHOWING
Constants, Variable and other objects data
VARIOUS
COMPONENTS
OPERATING Motion Commands
SYSTEM
SAMPLE
POSITION
TEACH MONITOR DATA End Effector and Sensor commands
PENDANT MODE ROBOT
CONTROLLER

ACTUATORS
EDIT RUN PERIPHERAL Computations and Operations
PROGRAM MODE MODE DEVICE
LANGUAGE Sequence &
Logic
Program Control and Subroutines

Communication and data processing

ROBOT
MANIPULATOR
Monitor mode commands

would cause program execution to stop at this statement until

An incremental move is one he joint coordinates (236, 158, 65,0,O,0),and
it is desired to move joint 4 (corresponding to a twisting motion of the wrist) from 0 to 125,
The following form of statement might be used to accomplish this move
DMOVE (4, 125)
The new joint coordinates of the robot would therefore be given by (236, 158, 65, 125, 0, 0).
The prefix D is interpreted as delta, so DMOVE represents a delta move, or incremental
move.
the input signal coming into the robot controller at port 20 was
in an "on" condition.
SIGNAL 10. ON –would switch on the signal at output port 10,
perhaps to actuate the start of an automatic machine cycle.
SIGNAL 10,6.0 is typical of a control statement that might be used to output a voltage level of 6.0
V to the device from controller output port 10.
continuously monitor input port 25 for any changes in the incoming signal.
If aud when a change in the signal occurs, regular program execution is interrupted, and control is
transferred to a subroutine called SAFESTOP.
EXECUTE PROGRAMI
indicates that the program named PROGRAM} is to be executed by the robot,
 PROGRAM PICK-PLACE

MOVE P1
MOVE P2
MOVE P3
ACTUATORS
CLOSEI 0.00
MOVE P4
MOVE P5
OPENI 0.00
MOVE P1
END

● Actuators are mechanical devices that convert energy into motion.

● Robots achieve the ability to move or execute specific mechanical
tasks with the help of various types of actuators.
● They are often called the muscles of robots,
● Actuators significantly impact a robot’s functional features, i.e.,
degrees of freedom (DOF), speed /velocity, accuracy, repeatability,
load capacity (payload), etc.
● Although, robot has many degrees of freedom, each of it has to be
servoed joint generating desired motion.
● This involves a control command that signals a change in a
physical system which then generates force to accomplish a task.
● The commanding signal can be human-operated or automatically
controlled while the energy source varies.

Advantages of Hydraulic Actuators
● Hydraulic actuators can hold a constant force without the pump
supplying more fluid due to the use of an incompressible fluid.
● They can produce very high forces.
● It can produce high speeds.
Disadvantages of Hydraulic Actuators
● Hydraulic fluid can leak, which leads to a loss in efficiency and
cleanliness issues.
● Require many accompanying components including a fluid
reservoir, pumps, motors, release valves, heat exchangers, and
noise reduction equipment.
● High maintenance systems with numerous components to
monitor constantly.
● Many of Industrial Robots use Hydraulic Actuators and best suited for large robots
● Hydraulic Actuators provide the force / torque needed to move and control the joints
● They used pressurized oil at 1000 to 3000 PSI
● A hydraulic pump operated by an electric motor provides the high pressure fluid into
the system
● Servo controls are used to control the amount and the rate of fluid to the cylinders
● Reservoir keeps the fluid supply available to the system
● Accumulators are used to store excess energy for maximum loads
● Connecting hoses are used to transport the pressurized fluid in the system
● feedback sensors are used to monitor and control the motion of actuator i.e. position,
velocity, acceleration and touch
 WORKING PRINCIPLE OF ELECTRIC MOTOR ELECTRIC MOTORS

● When a wire carrying a current is placed within a magnetic field, it will experience a force
normal to the plane formed by the magnetic field and current

● Each side of the wire experiences a force

● if the wire is attached to a center of rotation, the resulting torque will cause it to rotate about the
center of rotation

● Changing the direction of the magnetic field or current will cause a change in the direction of
force and the wire will continue to rotate about the center of rotation

● as long as this change continues, the coil will continue to rotate

https://youtu.be/CWulQ1ZSE3c
 SERVO MOTOR
● A servo motor is defined as an electric motor that allows for precise control of
angular or linear position, speed, and torque.
● It consists of a suitable motor coupled to a sensor for position feedback and a
controller that regulates the motor’s movement according to a desired setpoint.
● It consists of three main components: motor sensor & controller
● The basic working principle of a servo motor involves the controller receiving two
types of input signals: setpoint signal & feedback signal
● The controller compares these two signals and calculates an error signal that
represents the difference between them.
● The error signal is then processed by a control algorithm (such as PID) that
generates a control signal that determines how much voltage or current should be
applied to the motor.
● The control signal is sent to a power amplifier (such as an H-bridge) that converts
it into an appropriate voltage or current level for driving the motor.
● The motor then rotates or moves according to the control signal and changes its
position, speed, or torque, and sends a new feedback signal to the controller.
● The process repeats until the error signal becomes zero or negligible, indicating
that the output shaft has reached the desired setpoint.
STEPPER MOTOR
STEPPER MOTOR
● Stepper motors move in small, precise steps, rather than in continuous
rotation like conventional electric motors.
● It is a brushless electric motor that converts digital pulses into mechanical
shaft rotation. Stepper motors provide incremental & precise control over
movement and position with 12,24,144,180, and 200 steps per revolution
● They achieve this by using a magnetic field to turn the rotor in a series of
discrete steps.
● Stepper motors typically have two or four coils, which are arranged in a
specific pattern around the rotor.
● When current is applied to the coils in a specific sequence, the magnetic field
generated by the coils causes the rotor to turn in small increments.
● There are two main types of stepper motors: unipolar and bipolar.
● Unipolar stepper motors have two coils per phase and are generally easier to
control, while bipolar stepper motors have one coil per phase and require
more complex control circuits
https://youtu.be/09Mpkjcr0bo
STEPPER MOTOR
1 STEP
2 STEP
3 STEP