ROBOT MOVEMENT

& CONTROL
 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.
 Robot Movement and Precision
The precision of robot movement is defined by three basic
features:

1.Spatial resolution

2.Accuracy

3.Repeatability
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.
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.
In terms of control resolution, the accuracy can be defined as one-
half of the control resolution.

3. Repeatability
Repeatability refers to the robot's ability to position its end-
effector at a point that had previously been taught to the robot.
The repeatability error differs from accuracy as described below
(a) Accuracy and repeatability
Figure (a) Accuracy and repeatability; (b), high accuracy and high
repeatability; (c) high accuracy and low repeatability; (d) low
accuracy and high repeatability; (e) low accuracy and low
repeatability.
 ROBOT Classification
based on Control Systems
Based on the control systems adopted, robots are classified
into the following categories:
1.Point-to-point (PTP) control robot
2.Continuous-path (CP) control robot
3.Controlled-path robot
Point-to-Point (PTP)
The PTP robot is capable of moving from one
point to another point. The locations are
recorded in the control memory. PTP robots do
not control the path to get from one point to the
next point. The programmer exercises some
control over the desired path to be followed by
programming a series of points along the path.
Common applications include component
insertion, spot welding, hole drilling, machine
loading and unloading, and crude assembly
operations.
Continuous-Path (CP)
The CP robot is capable of performing movements along the controlled path.
With CP control, the robot can stop at any specified point along the controlled
path. All the points along the path must be stored explicitly in the robot's
control memory. Straight-line motion is the simplest example for this type of
robot. Some continuous- path controlled robots also have the capability to
follow a smooth curve path that has been defined by the programmer. In such
cases the programmer manually moves the robot arm through the desired path
and the controller unit stores a large number of individual point locations
along the path in memory. Typical applications include spray painting,
finishing gluing, and arc welding operations.
Controlled-Path Robot
In controlled path robots, the control equipment can generate
paths of different geometry such as straight lines, circles, and
interpolated curves with a high degree of accuracy. Good
accuracy can be obtained at any point along the specified path.
Only the start and finish points and the path definition function
must be stored in the robot's control memory. It is important to
mention that all controlled-path robots have a servo capability to
correct their path.