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A post-training presentation 
By 
Soorya Kalaiselvan 
110106269
HISTORY OF ROBOTICS 
• Like most other technological marvels, Robot is also an imaginary work 
from a Czech play “R.U.R” by Karel Capek in 1921. 
• The first ever description for a robot was given by Isaac Asimov in his 
science fiction stories in 1950. He devised laws of a robot. 
1. A robot may not injure a human being, or through inaction, allow a human 
being to come to harm. 
2. A robot must obey orders given to it by human beings except where such 
orders would conflict with the first law. 
3. A robot must protect its own existence as long as such protection does not 
conflict with the first and second laws. 
• Although many attempts were made, the first 
successful programmable robot was developed by 
George Devol in 1954. 
The depiction of the humanoid robot in the play R.U.R (Rosumovi Umeli 
Roboti) by Karel Capek. The play is about a company ‘Rossum’s Universal 
Robots’ which produces these machines. These machines subsequently 
overthrow society and destroy humanity.
INDUSTRIAL ROBOT 
• Robots are basically created to handle material or tool to perform various 
functions / operations. 
ROBOTS 
Manual control 
Teleoperators / 
Manipulators 
Program Control 
Fixed programming 
Loading devices 
Free programming 
INDUSTRIAL ROBOTS
INDUSTRIAL ROBOT 
Manipulators / teleoperators 
• These are robots that have a master-slave system. 
• The slave system replicates or amplifies the motion 
input given by the master system which is controlled 
by the human operator. 
• The manipulators are manually controlled and are 
capable of working with extreme payloads and 
environmental conditions which may prove harmful 
to the human beings. 
• These manipulators are used where the machine is 
supposed to work in an environment which is not 
pre-defined. 
The Space Shuttle’s Remote Manipulator System—known to its builders as 
Canadarm—is a 50-foot robot arm used to deploy, retrieve or repair 
satellites in orbit. 
ex. Aerospace applications. 
DONALD F ADAMSKY and his “slave system”
INDUSTRIAL ROBOT 
Loading devices 
• They work on a fixed program (say pick and drop) 
• They are actuated by limit switches 
• Used majorly in packing industries, assembly lines. 
• The same handling task is repeated for a long period of time, hence fixed 
programming is used
INDUSTRIAL ROBOT 
• An industrial robot is a freely programmable handling device. 
• Motion sequences of the robot can be programmed. 
• The robot program can be thought via the teach pendent. 
• Complex spatial motions sequences are possible. (Linear3D, circular 3D, 
spline motion etc.)
UNIMATE-THE FIRST INDUSTRIAL 
ROBOT 
• Developed by George Devol 
• It was developed in Universal 
Automation (Unimation, America.) 
• Electronically controlled, Hydraulic 
heavy lifting robot 
• 4 degrees of freedom 
• RRTR type 
• The base link is capable of rotating 
about the base axis and is pivoted 
to the base. 
• The arm is capable of translating to 
and fro (hydraulic actuation) 
• The wrist is capable of rotating 
about the wrist axis. 
• First installed in General Motors in 
1962. It was used to take hot metal 
pieces out of a metal press and 
stacking them. 
Unimate carrying a casted component
KUKA ROBOTS (KR16) 
• KUKA Roboter GmbH is a German based robotics industry that has 
been producing industrial robots since 1973. 
• The KUKA engineering works founded in Augsburg by Hans Keller 
and Jakob Knappich in 1898. Hence the name KUKA (Keller Und 
Knappich, Augsburg) 
• Its robots are named as KRxx meaning KUKA robot with xx payload 
capacity. 
• KR 16 is a low payload robot with 16 Kgs payload capacity.
MAIN COMPONENTS OF AN 
INDUSTRIAL ROBOT SYSTEM 
1. ROBOT CONTROLLER 
• It is the brain of the robotic system. 
• It contains the computer which contains control drives, safety drives, motion drives and 
input/output relay interfaces. 
2. ROBOT CONTROL PANNEL 
• It is the communication interface between the human and the robot. 
• It contains simple keys/ joy pads through which the robot can be thought , calibrated and 
programmed 
3. THE ROBOT 
• The end mechanical linkages which move with respect to each other to produce an end 
effect. 
• It is generally driven by electric motors, but a few hydraulic and pneumatic actuated 
robots exist.
ROBOT AXES 
A1- Base axis 
A2-Link axis 
A3-arm Axis 
A4-Wrist roll axis 
A5-Wrist pitch axis 
A6- Wrist yaw axis 
How many axes /degrees of freedom must a robot 
contain? 
• For achieving a freely selected orientation and 
position of the end effector, minimum of 6 degrees 
of freedom is required. 
• The robots with less than 6 degrees of freedom are 
called globally degenerated system. 
• The robots with more than 6 degrees of freedom/ 
more than 6 axes are called redundant systems. 
• Redundant systems are developed just to give the 
user, more flexibility in controlling a robot. 
• Redundant systems consume more power, more 
resources when compared to its 6 axis counterparts.
CO-ORDINATE SYSTEMS 
1. ROB ROOT COORDINATE SYSTEM 
• The Cartesian coordinate system 
with the origin located at the base 
center of the robot. 
2. WORLD COORDINATE SYSTEM 
• The Cartesian coordinate system 
with any point in the world which 
always remains stationary with 
respect to the robot as the origin. 
3. BASE COORDINATE SYSTEM 
• The Cartesian coordinate system in 
which any point on the work piece 
is selected as the origin. 
4. TOOL COORDINATE SYSTEM 
• It is the Cartesian coordinate system in which the TCP (tool center point) is taken as 
the origin. 
• It is different from other coordinate systems as the origin is dynamic in this case.
PROCESS OF THE ROBOT CONTROL 
ROBOT 
CONTROLLER 
ROBOT 
CONTROL 
DRIVES 
SIGNALS TO 
ELECTRIC 
MOTORS 
MOTION OF 
THE ROBOT 
AXES 
ENCODER 
FEEDBACK
TOOL CALIBRATION 
• TOOL CALIBRATION is the process of setting 
the tool center point for a particular tool. 
• By default, the TCP will be located at the 
flange center as shown. 
• After tool calibration, the Flange center 
point is translated to the TCP by an offset 
“d” called the tool distance. (4 point 
method) 
• Orientation of the tool is then set by 
moving the tool, manually along the 
desired axis as shown in the figure. (ABC 5 
point method) 
• By the methods depicted above, the robot learns the tool origin and the co-ordinate 
system. Hence, when a program is executed the TCP is approximated 
along the path. 
• Maximum of 16 tool data can be saved in a KR 16 system.
BASE CALIBRATION 
• Similar to the tool calibration, the 
robot system must also be aware of 
the orientation of the work piece or 
base. 
• Moreover it is convenient to work 
with Base coordinate systems as the 
operations are specified with respect 
to the work piece in this system . 
• The robot control unit saves the 
origin of the work piece and the 
orientation in space with respect to 
the World coordinate system. 
• ABC 2 point method is used to calibrate the base. The user must specify 
the location of the origin and any point on the –ve X direction, +y direction 
respectively.
MOTION TYPES 
PTP motion CIRC motion LIN motion 
Point to point motion in 
Circular trajectory motion in 
which robot TCP follows the 
which the robot TCP can 
fastest possible path to 
traverse along the circular 
travel from one point to 
path made by three user 
another 
defined points in 3D space 
Linear trajectory motion in 
which the robot TCP can 
traverse the straight line 
joining two user defined 
points.
VERSATILITY OF INDUSTRAIL ROBOTS
VERSATILITY OF INDUSTRAIL ROBOTS
LIMITATIONS AND AREAS OF 
DEVELOPMENT 
LIMITATIONS 
The robots do not have sense of their environment 
The robots are still hazardous, hence kept in closed fences 
The robots are limited to specific motion sequences 
AREAS OF DEVELOPMENT 
The robot systems can be developed such that they are aware of their surroundings 
The robot safety protocols are still to be improvised 
New motion sequences inspired by human arms must be conceptualized and 
algorithms must be developed to write a robot’s own motion sequence
CONCLUSION 
• Just like the industrial revolution, automation and robotics 
are the next upgrade to the industrial revolution. 
• People mistake automation for eliminating manual labor. 
But automation is not something that can work on its own, 
without the involvement of humans. Automation is 
something that enhances humans to increase the 
productivity by accomplishing routine tasks in lesser cycle 
time, without the interference of human labor. 
• Moreover automation is a job shifter rather than a job 
killer. 
• As engineers, it is mandatory for us to learn the upcoming 
technology involved in automation.

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Industrial robotics

  • 1. A post-training presentation By Soorya Kalaiselvan 110106269
  • 2. HISTORY OF ROBOTICS • Like most other technological marvels, Robot is also an imaginary work from a Czech play “R.U.R” by Karel Capek in 1921. • The first ever description for a robot was given by Isaac Asimov in his science fiction stories in 1950. He devised laws of a robot. 1. A robot may not injure a human being, or through inaction, allow a human being to come to harm. 2. A robot must obey orders given to it by human beings except where such orders would conflict with the first law. 3. A robot must protect its own existence as long as such protection does not conflict with the first and second laws. • Although many attempts were made, the first successful programmable robot was developed by George Devol in 1954. The depiction of the humanoid robot in the play R.U.R (Rosumovi Umeli Roboti) by Karel Capek. The play is about a company ‘Rossum’s Universal Robots’ which produces these machines. These machines subsequently overthrow society and destroy humanity.
  • 3. INDUSTRIAL ROBOT • Robots are basically created to handle material or tool to perform various functions / operations. ROBOTS Manual control Teleoperators / Manipulators Program Control Fixed programming Loading devices Free programming INDUSTRIAL ROBOTS
  • 4. INDUSTRIAL ROBOT Manipulators / teleoperators • These are robots that have a master-slave system. • The slave system replicates or amplifies the motion input given by the master system which is controlled by the human operator. • The manipulators are manually controlled and are capable of working with extreme payloads and environmental conditions which may prove harmful to the human beings. • These manipulators are used where the machine is supposed to work in an environment which is not pre-defined. The Space Shuttle’s Remote Manipulator System—known to its builders as Canadarm—is a 50-foot robot arm used to deploy, retrieve or repair satellites in orbit. ex. Aerospace applications. DONALD F ADAMSKY and his “slave system”
  • 5. INDUSTRIAL ROBOT Loading devices • They work on a fixed program (say pick and drop) • They are actuated by limit switches • Used majorly in packing industries, assembly lines. • The same handling task is repeated for a long period of time, hence fixed programming is used
  • 6. INDUSTRIAL ROBOT • An industrial robot is a freely programmable handling device. • Motion sequences of the robot can be programmed. • The robot program can be thought via the teach pendent. • Complex spatial motions sequences are possible. (Linear3D, circular 3D, spline motion etc.)
  • 7. UNIMATE-THE FIRST INDUSTRIAL ROBOT • Developed by George Devol • It was developed in Universal Automation (Unimation, America.) • Electronically controlled, Hydraulic heavy lifting robot • 4 degrees of freedom • RRTR type • The base link is capable of rotating about the base axis and is pivoted to the base. • The arm is capable of translating to and fro (hydraulic actuation) • The wrist is capable of rotating about the wrist axis. • First installed in General Motors in 1962. It was used to take hot metal pieces out of a metal press and stacking them. Unimate carrying a casted component
  • 8. KUKA ROBOTS (KR16) • KUKA Roboter GmbH is a German based robotics industry that has been producing industrial robots since 1973. • The KUKA engineering works founded in Augsburg by Hans Keller and Jakob Knappich in 1898. Hence the name KUKA (Keller Und Knappich, Augsburg) • Its robots are named as KRxx meaning KUKA robot with xx payload capacity. • KR 16 is a low payload robot with 16 Kgs payload capacity.
  • 9. MAIN COMPONENTS OF AN INDUSTRIAL ROBOT SYSTEM 1. ROBOT CONTROLLER • It is the brain of the robotic system. • It contains the computer which contains control drives, safety drives, motion drives and input/output relay interfaces. 2. ROBOT CONTROL PANNEL • It is the communication interface between the human and the robot. • It contains simple keys/ joy pads through which the robot can be thought , calibrated and programmed 3. THE ROBOT • The end mechanical linkages which move with respect to each other to produce an end effect. • It is generally driven by electric motors, but a few hydraulic and pneumatic actuated robots exist.
  • 10. ROBOT AXES A1- Base axis A2-Link axis A3-arm Axis A4-Wrist roll axis A5-Wrist pitch axis A6- Wrist yaw axis How many axes /degrees of freedom must a robot contain? • For achieving a freely selected orientation and position of the end effector, minimum of 6 degrees of freedom is required. • The robots with less than 6 degrees of freedom are called globally degenerated system. • The robots with more than 6 degrees of freedom/ more than 6 axes are called redundant systems. • Redundant systems are developed just to give the user, more flexibility in controlling a robot. • Redundant systems consume more power, more resources when compared to its 6 axis counterparts.
  • 11. CO-ORDINATE SYSTEMS 1. ROB ROOT COORDINATE SYSTEM • The Cartesian coordinate system with the origin located at the base center of the robot. 2. WORLD COORDINATE SYSTEM • The Cartesian coordinate system with any point in the world which always remains stationary with respect to the robot as the origin. 3. BASE COORDINATE SYSTEM • The Cartesian coordinate system in which any point on the work piece is selected as the origin. 4. TOOL COORDINATE SYSTEM • It is the Cartesian coordinate system in which the TCP (tool center point) is taken as the origin. • It is different from other coordinate systems as the origin is dynamic in this case.
  • 12. PROCESS OF THE ROBOT CONTROL ROBOT CONTROLLER ROBOT CONTROL DRIVES SIGNALS TO ELECTRIC MOTORS MOTION OF THE ROBOT AXES ENCODER FEEDBACK
  • 13. TOOL CALIBRATION • TOOL CALIBRATION is the process of setting the tool center point for a particular tool. • By default, the TCP will be located at the flange center as shown. • After tool calibration, the Flange center point is translated to the TCP by an offset “d” called the tool distance. (4 point method) • Orientation of the tool is then set by moving the tool, manually along the desired axis as shown in the figure. (ABC 5 point method) • By the methods depicted above, the robot learns the tool origin and the co-ordinate system. Hence, when a program is executed the TCP is approximated along the path. • Maximum of 16 tool data can be saved in a KR 16 system.
  • 14. BASE CALIBRATION • Similar to the tool calibration, the robot system must also be aware of the orientation of the work piece or base. • Moreover it is convenient to work with Base coordinate systems as the operations are specified with respect to the work piece in this system . • The robot control unit saves the origin of the work piece and the orientation in space with respect to the World coordinate system. • ABC 2 point method is used to calibrate the base. The user must specify the location of the origin and any point on the –ve X direction, +y direction respectively.
  • 15. MOTION TYPES PTP motion CIRC motion LIN motion Point to point motion in Circular trajectory motion in which robot TCP follows the which the robot TCP can fastest possible path to traverse along the circular travel from one point to path made by three user another defined points in 3D space Linear trajectory motion in which the robot TCP can traverse the straight line joining two user defined points.
  • 18. LIMITATIONS AND AREAS OF DEVELOPMENT LIMITATIONS The robots do not have sense of their environment The robots are still hazardous, hence kept in closed fences The robots are limited to specific motion sequences AREAS OF DEVELOPMENT The robot systems can be developed such that they are aware of their surroundings The robot safety protocols are still to be improvised New motion sequences inspired by human arms must be conceptualized and algorithms must be developed to write a robot’s own motion sequence
  • 19. CONCLUSION • Just like the industrial revolution, automation and robotics are the next upgrade to the industrial revolution. • People mistake automation for eliminating manual labor. But automation is not something that can work on its own, without the involvement of humans. Automation is something that enhances humans to increase the productivity by accomplishing routine tasks in lesser cycle time, without the interference of human labor. • Moreover automation is a job shifter rather than a job killer. • As engineers, it is mandatory for us to learn the upcoming technology involved in automation.