EE-381 Robotics-1

UG ELECTIVE

Lecture 𝟏
Dr. Hafsa Iqbal
Department of Electrical Engineering,
School of Electrical Engineering and Computer Science,
National University of Sciences and Technology,
Pakistan
About Me
• Academics:
• BSc in Electrical Engineering, UET Taxila
• MS in Electrical Engineering from CEME, NUST
• PhD in Autonomous Systems from Carlo III University of Madrid,
Spain and University of Genoa, Italy
• Research Areas
• Self-driving vehicle

• Dynamic Bayesian Networks

• Autonomous Systems

2
About Me
• Major Achievements:
• Gold medal in MS

• Scholarship for BSc and MS

• EU funding for the PhD studies

• Awarded with Excellent research based PhD degree

• Reviewer of the ‘IEEE Transaction of Intelligent Transportation

System’

• Reviewer of the flagship conferences of ITS society

3
About Me
• Experience:
• Research Assistant at CARE, Islamabad
• Lab Assistant at University of Genoa, Italy

• Assistant Professor at SEECS, NUST

4
Student Introduction

• Introduce Yourself
• Name
• Belongingness
• Motivation behind opting
for this course

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Class Norms
• Attendance timings
• Late arrival in class
• Cell phone ringing
• Respect peer, faculty and staff through actions and
speech
• Students should not sleep during class
• Should not disturb your fellows
• Assignment submissions
• We will follow the SEECS policy on plagiarism

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Course Material

Enrollment Code: 𝟑𝟏𝟗𝟖𝟕𝟔𝟓𝟐𝟎

• Textbook
• Robots Dynamics and Control
by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar

• Robots Modeling and Control

by M.W. Spong and S. Hutchinson

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Course Material
• Reference book:
• Robotics, Vision and Control
by Peter Corke.
• Introduction to Robotics, Mechanics and Control
by John J. Craig.
• Introduction to Autonomous Mobile Robots (Intelligent
Robotics and Autonomous Agents series)
by Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza.
• Learning ROS for Robotics Programming
by Aaron Martinez, Enrique Fernández.

• Slides
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Course Objective
• Robot Structure
• Robot Modelling
• Robot Actuators
and Driving Systems
Line follower
• Sensors
• Kinematic (Forward
and Inverse)
• Robot Control
Humanoid Robot
• Robot Programming
Industrial Arm Robot
• Applications
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Course Outcome
• Student will be able to:
• Select a particular type of robot based on the
requirement; solve problems in forward and inverse
kinematics

• Select a suitable drive system; select a suitable vision

system

• Select a suitable robot cell layout for various needs

• Choose the right problem-solving technique

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Agenda

• Introduction to Robotics

• Robot accessories

• Classification of Robots

• Robot coordinates

• Robot Programming

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Introduction to Robotics
What is a Robot???

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Robot
• As defined by Robotics Industries Association (RIA)
A re-programmable, multifunctional manipulator designed to
move materials, parts, tools or specialized devices through variable
programmed motion for a variety of tasks

• As defined by ISO 𝟖𝟑𝟕𝟑 (Robots and Robotic devices)

An automatically controlled, re-programmable, multipurpose
manipulator programmable in three or more axes, which may be
either fixed in place or mobile for use in industrial automation
applications.

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Applications of Robots

Wheeled Robot

Autonomous Vehicles

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Applications of Robots
Manipulator

Legged Robot

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 Applications of Robots

Autonomous underwater vehicle

Autonomous Aerial vehicle

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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟐𝟎 Czech author Karel Capek wrote a story
called Rossum’s Universal and introduced the
word ”Rabota” (Czech word, meaning
worker/servitude)

• 𝟏𝟗𝟒𝟖 George Devol design the first

programmable robot

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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟓𝟔 Josseph Engel berger, a Columbian University physics
student, buys the rights to Devol’s robot and funds the Unimation
Company

• 𝟏𝟗𝟓𝟕 launch of first artificial

satellite Sputnik 1

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History of Robotics (THE ORIGIN)
• 𝟏𝟗60 industrial robots created and
Robotic Industries Association
officially defines the robot

• 𝟏𝟗𝟔𝟏 the Unimate robot is installed in a Trenton, New Jersey

plat of General Motors (to tend a die casting machine)

• 𝟏𝟗𝟔𝟏 the first robot incorporating force feedback

information is developed
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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟔𝟐 George Devol and Josseph Engel berger start a first Robotic
industry named as Unimation and develop industrial Robots

• 𝟏𝟗𝟔𝟑 the first robot vision system is developed

• 𝟏𝟗𝟕𝟏 the Stanford Arm is developed at Stanford University

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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟕𝟑 the first robot programming language (WAVE) is
developed at Stanford

• 𝟏𝟗𝟕𝟒 Cineinnati Milacron introduces

the T3 robot with computer control

• 𝟏𝟗𝟕𝟓 Unimation Inc. registers its first financial profit

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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟕𝟔 the Remote Center Compliance (RCC) device for part
insertion in assembly is developed at Draper Labs in Boston

• Two famous Robots

• PUMA
• SCARA

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 𝟏𝟗𝟕𝟖 −PUMA: the programmable Universal
PUMA: Machine for Assembly, introduced by Unimation

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 𝟏𝟗𝟕𝟗 the SCARA (Selective Compliant Articulated
SCARA: Robot for Assembly) robot design is introduced in Japan

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History of Robotics (THE ORIGIN)
• 𝟏𝟗𝟖𝟏 the first direct-drive robot is developed at
Carnegie-Mellon University

• 𝟐𝟎𝟎𝟎’s Military applications – Robotic assistants for

dangerous environments and reconnaissance, NASA,
AUVs etc.

• 𝟐𝟎𝟎𝟎’s Intuitive Surgical introduces the Da Vinci surgical

robot

• 𝟐𝟎𝟎𝟎’s - IRobot introduces the first autonomous vacuum

–“Roomba”.
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Robots
• Amazon warehouse
https://www.youtube.com/watch?v=TUx-ljgB-5Q
• Industrial robots
https://www.youtube.com/watch?v=KBLEPlznHWY
• Arc welding robot
https://www.youtube.com/watch?v=5HphVrleXlQ
• Worm robot
https://www.youtube.com/watch?v=ilbT2QcPGv0
• Hexapod robot
https://www.youtube.com/watch?v=-uKIDyFMTyQ
https://www.youtube.com/watch?v=Mfjn79oiM0Q
• CyberDog
https://www.youtube.com/watch?v=B0qYob_vSgo
https://www.youtube.com/watch?v=4oSavAHf0dg

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Three laws by Asimov −1942
1. A robot may not injure a human being, or, through
inaction, allow a human to be harmed

2. A robot must obey orders given by human except when

that conflicts with the First Law.

3. A robot must protect its own existence unless that

conflicts with the First or Second laws

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Robotics
It is a multidisciplinary field, comprises of knowledge from
the field of

• Mechanical Engineering- concerned with manipulator/mobile

robot design, kinematics, dynamics, compliance and actuation.

• Electrical Engineering- concerned with robot actuation,

electronic interfacing to computers and sensors and control
algorithms
• Computer Science- concerned with robot programming,
planning and intelligent behavior.

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Robot Accessories

• Manipulator: Main body of the

robot & consists of links, joints and
structural elements.

• End Effector: part that generally

handles objects, makes connection
to other machines, or performs the
required tasks.

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Robot Accessories

Shoulder Arm
Elbow Wrist
Elbow
Wrist
Arm Tool/End effector
Waist Shoulder
Body
Waist

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Wrist
• Wrist: refers to joints in kinematic chain between arm
and hand
• 3 DOF degree of freedom
• Roll: involves rotating the wrist about the arm axis
• Yaw: left-right rotation of wrist
• Pitch: up-down rotation of wrist

• End effector is mounted on wrist

Structure of spherical wrist

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Wrist

https://howthingsfly.si.edu/flight-dynamics/roll-pitch-and-
yaw#:~:text=Imagine%20three%20lines%20running%20through,vertical%20axis%20is%20called%20yaw.

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Robot Accessories
• Actuators: (muscles of the manipulator) Servomotors,
stepper motors, pneumatic, hydraulic cylinder etc.

• Sensors: collect information about the internal state of the

robot or to communicate with the outside environment:
vision system, touch and tactile sensors etc.

• Controller: controls the motions of the actuator and

coordinates these motion with the sensory feedback
information.

• End Effector: Hand (not part of anatomy)

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Representation of Robot
• Robot Manipulators are composed of links connected by
joints into a kinematic chain.

𝑧𝑖 →axis of rotation
𝑑𝑖 and 𝜃𝑖 → joint variables
𝑖 → are the number of links

Joints are of two types

• Rotary (Revolute)

• Linear (Prismatic)
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Robotic Joints
Prismatic Joint: allows a linear relative motion between
two links.
• Represented with P

2D
𝑧𝑖

3D

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Robotic Joints
Revolute Joint: is like a hinge and allows relative rotation
between two links
• Represented with R

𝜃𝑖

2D
𝜃𝑖

3D
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Work Envelop
A robot’s work envelop is its range of movement. It is the shape
created when a manipulator reaches forward, backward, up and
down. These distances are determined by the length of a robot’s arm
and the design of its axes.

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Robot Classification
Robot manipulators classified based on

• Power source
• Electrically
• Hydraulically
• Gas/Pressure powered

• Application area
• Assembly robots
• Non-assembly robots

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Robot Classification
• Control systems
• Open loop control system
• Closed loop control system

• Method of control
• Servo robots
• Point-to-point robot system
• Continuous-path robot system
• Non-servo robots

• Geometry (coordinate system) (based on first three joint of arm)

• Articulate (RRR)
• Spherical (RRP)
• SCARA (RRP)
• Cylindrical (RPP)
• Cartesian (PPP)
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Control Systems
• Open loop control system
• Control is given to the individual axis

• No feedback is obtained

• Used for loading/unloading applications

Control
Driver Motor
Unit

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Control Systems
• Closed loop control system
• Control is given to the individual axis

• Feedback is obtained through sensors

• Corrective signals are sent by control unit

Reference Measured
System input System output
+ error
System
Controller
-

Measured output
Sensor

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Method of Control
• Servo control robot:
• Hydraulic and electric robots. Users closed loop control system
• Information of position and velocity is monitored and feedback
to control system.
• Control system control the movements

• Non-servo control robot:

• Pneumatic robots, limited sequence robots, pick and place
robots
• Uses open loop control system
• Controlled by setting mechanical stops or limit switched to
establish end points to travel of end joints

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Servo Robots
• Point-to-point robot system
• Only the end points are programmed, the path used to connect
the end point 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 joint have achieved desired location

• Applications: palletizing,
machine loading

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Servo Robots
• Continuous path robot system: the entire path of the end
effector can be controlled

• For-example:
• Robot end effector can be taught to follow a straight line
between two points
• Follow a contour in case of welding seam

• Velocity/acceleration of the end effector can be controlled

• Applications: spray painting, polishing, grinding, arc welding

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Robot Configurations
Based on coordinate system
1. Cartesian/Rectangular Robot (PPP)

2. Cylindrical Robot (RPP)

3. Spherical Robot (RRP)

4. Articulated Robot (RRR)

5. SCARA (special types of spherical) (RRP)

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1-Cartesian Robot (PPP)
• 3 Prismatic Joints that orient the end effector, which are
usually followed by additional revolute joints

Configuration of Cartesian Robot

https://www.youtube.com/watch?v=ci_mpRERMog
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1-Cartesian Robot –Work Envelop

Forward-
backward

Left-right
Up-down

Top view Front view

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1-Cartesian Robot
• Advantages
• Simple configuration
• Equal & constant spatial
resolution
• Use for assembly applications
and transfer of material or cargo

• Disadvantages Epson Cartesian Robot

• Lacks mechanical flexibility
• Cannot reach objects on the floor
• Speed of operation in horizontal
plane is slower than the robots
with rotary base
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2-Cylindrical Robot (RPP)
• First joint is revolute and produces a rotation about the
base, second and third joints are prismatic

Configuration of Cylindrical Robot Seiko RT3300 Robot

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2-Cylindrical Robot- Work Envelop

Top view Front view

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2-Cylindrical Robot- Advantages
• Results in a larger work envelope than a rectangular
robot

• Suited for pick-and-place operations

• Vertical structure conserves floor space

• Deep horizontal reach is useful for far-reaching

operations

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2-Cylindrical Robot- Disadvantages

• Overall mechanical rigidity is lower than that of the

rectilinear robots.

• Repeatability and accuracy are also lower in the direction

of rotary motion.

• Configuration requires a more sophisticated control

system than the rectangular robots.

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3-Spherical Robot (RRP)
• Also known as Polar Coordinate Robot
• 2 Revolute and 1 prismatic joint

Configuration of spherical manipulator

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3-Spherical Robot (RRP)

Workspace of spherical manipulator Stanford Arm

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3-Spherical Robot (RRP)-Work Envelop

Top view Front view

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3-Spherical Robot (RRP)
• Provides a larger work envelope than the rectilinear or
cylindrical robot

• Design gives weight lifting capabilities

• Advantages and disadvantages same as cylindrical-

coordinated robot

https://www.youtube.com/watch?v=jrF5Dl6ntAc

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4-Articulated Robot (RRR)
• Also known as anthropomorphic (jointed) Arm Robot
• 3 revolute joints

𝑧1 ||z2
𝑧1 and 𝑧2  𝑧0

Configuration of articulated robot

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4-Articulated Robot (RRR)

Workspace of articulated robot

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5-SCARA (RRP)
• Selective Compliant Articulated Robot Assembly
• 2 parallel revolute joint that allows the horizontal
movement of robot and 1 prismatic that moves vertically
• 4DOF, 3 for Arm and 1 for wrist (roll)

Configuration of SCARA Epson E2L653S SCARA Robot

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Summary

Cartesian Cylindrical Spherical

Articulated SCARA

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Workspace

• 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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Spherical Jointed Arm-Work Envelope

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

• Joint reference frame which is used to

specify the movements of each
individual joint of the robot. In this
case, each joint may be accessed
individually and only one joint moves
at a time.
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Reference Frame
• Tool reference frame which specifies the movement of
the Robot’s hand relative to the frame attached to the
hand. The x’,y’,z’ axes attached to the hand define the
motions of the hand relative to this local frame. All joints
of the Robot moves simultaneously to create
coordinated motions about the tool frame.

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Robot Programming
Typically performed using one of the following
• Online
• Teach pendant

• Lead through programming

• Offline
• Programming languages

• Task level programming

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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

https://www.youtube.com/watch?v=EA6pWwNI_wg
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Lead Through Programming

• Lead the robot physically through the required

sequences of motions

• Trajectory and endpoints are recorded, using a sampling

routine which records points at 60 − 80 times in a
second

• When played back results in a smooth continuous motion

• Large memory requirements

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Online Programming- Advantages

• Easy to use

• No special programming skills required

• Useful when programming the robots for wide range of

repetitive tasks for long production runs

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Robotic System

Component of Robotic system

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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

• Commuting based on geometry of environment

• Ability to interface with CAD/CAM systems

• Meaningful task descriptions

• Offline programming capability

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Programming Languages

• Wide range of robot’s programming languages are

available such as: AML, VAL, AL, RAIL,
RobotStudio(200+)

• Each robot manufacturer has their own robot

programming language

• No standards exist

• Portability of programs virtually non-existent

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Decision Making in Autonomous Mobile Robots
• Sensing
• Proprioceptive sensors: internal measurement of robot; such
as, angle of the joints of robotic arm, wheel revolutions, current
drawn by an electric motor
• Exteroceptive sensors: measure the external state of the
world with respect to the robot; such as, detect collision,
distance between robot and the surrounding objects
• Given an example of exteroceptive sensor

• Perceiving

• Planning
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Autonomous Mobile Robots

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