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  • Performance Specifications of Industrial Robot

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    Keshav Garg
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    The document discusses various sensors used in industrial robots including touch sensors, position sensors like potentiometers and optical encoders, vision systems, proximity sensors, and tactile sensors. It describes how these sensors allow robots to detect physical variables, position, movement, and contact to navigate and interact with their environment. The use of sensors is important for building intelligent robots that can perform tasks autonomously.

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    The document discusses various sensors used in industrial robots including touch sensors, position sensors like potentiometers and optical encoders, vision systems, proximity sensors, and tactile sensors. It describes how these sensors allow robots to detect physical variables, position, movement, and contact to navigate and interact with their environment. The use of sensors is important for building intelligent robots that can perform tasks autonomously.

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    © All Rights Reserved
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    35 views42 pages

    Performance Specifications of Industrial Robot

    Uploaded by

    Keshav Garg
    The document discusses various sensors used in industrial robots including touch sensors, position sensors like potentiometers and optical encoders, vision systems, proximity sensors, and tactile sensors. It describes how these sensors allow robots to detect physical variables, position, movement, and contact to navigate and interact with their environment. The use of sensors is important for building intelligent robots that can perform tasks autonomously.

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    of 42

    Performance specifications of industrial robot

    Industrial robotics @ NITT 1


    Specifications of Robot

    Industrial robotics @ NITT 2


    Industrial robotics @ NITT 3
    Forward kinematics

    Link and Joint Parameters


    Length of linki (ai) - It is the
    mutual perpendicular distance
    between Axisi-1 and Axisi

    Angle of twist of linki (ai) - It is


    the angle between Axisi-1 and
    Axisi

    Industrial robotics @ NITT 4


    Link and Joint Parameters

    Industrial robotics @ NITT 5


    Example 2

    Industrial robotics @ NITT 6


    Classification of sensors
    A sensor is used to take measurement of physical variable.
    Sensors are used to build intelligent robots.

    Industrial robotics @ NITT 7


    Classification of sensors contd.

    Industrial robotics @ NITT 8


    Characteristics of sensors

    Industrial robotics @ NITT 9


    Touch Sensor

    Industrial robotics @ NITT 10


    Position sensor - Potentiometer
    Linear potentiometer

    Demerit?

    Industrial robotics @ NITT 11


    Industrial robotics @ NITT 12
    Optical encoder

    Industrial robotics @ NITT 13


    Industrial robotics @ NITT 14
    Industrial robotics @ NITT 15
    Industrial robotics @ NITT 16
    Construction of Optical Encoders

    Industrial robotics @ NITT 17


    Industrial robotics @ NITT 18
    Quiz-2
    Obtain the position and orientation of the tool point ‘P’ with respect to the
    base for the 2-DoF RP Planar manipulator for 𝜽𝟏 = 𝟏𝟐𝟎° 𝒅𝟐 = 𝟐𝟎𝟎𝒎𝒎

    Industrial robotics @ NITT 19


    Sensory Devices
    • The component of modern robots that was most commonly missing from
    their early predecessors was the ability to collect data from the outside
    world.
    • Humans accomplish this task, of course, by means of our hands, eyes, ears,
    noses, and tongues.
    • With some important exceptions, robots usually do not need to have the
    ability to hear, smell, or taste things in the world around them, but they are
    often required to be able to "see" an object or to "feel" it.
    • The simplest optical system used in robots is a photoelectric cell. A
    photoelectric cell converts light energy into electrical energy.
    • It allows a robot to determine "yes/no" situations in its field of vision,
    such as whether a particular piece of equipment is present or not.
    Suppose, for example, that a robot looks at a place on the table in
    front of it where a tool is supposed to be.

    • If the tool is present, light will be reflected off it and sent to the robot's
    photoelectric cell. There, the light waves will be converted to an
    electrical current that is transmitted to the robot's computer-brain.
    • More complex robot video systems make use of television cameras. The images
    collected by the cameras are sent to the robot's "brain," where they are
    processed for understanding.

    • One means of processing is to compare the image received by the television


    camera with other images stored in the robot's computer-brain.

    • The human sense of touch can be replicated in a robot by means of tactile


    sensors. One kind of tactile sensor is nothing more than a simple switch that
    goes from one position to another when the robot's fingers come into contact
    with a solid object.
    • When a finger comes into contact with an object, the switch may close,
    allowing an electrical current to flow to the brain.

    • A more sophisticated sense of touch can be provided by combining a group


    of tactile sensors at various positions on the robot's hand.

    • This arrangement allows the robot to estimate the shape, size, and contours
    of an object being examined.
    • Sensors are generally classified into two groups: internal sensors and
    external sensors. Internal sensors such as its position sensor, velocity
    sensor, acceleration sensors, motor torque sensor, etc obtain the
    information about the robot itself, while external sensors such as
    cameras, range sensors (IR sensor, laser range finder, and ultrasonic
    sensor) contact and proximity sensors (photodiode, IR detector, RFID,
    touch, etc.) and force sensors gather the information in the
    surrounding environment.
    Light Sensor
    • A light sensor detects light and creates a difference in voltage. A robot’s vision
    system has a computer-controlled camera that allows the robot to see and
    adjust its movements accordingly. The two primary light sensors in robots are
    Photoresistor and Photovoltaic cells. Other light sensors like phototubes,
    phototransistors, CCDs, etc. are rarely used.

    • a) A photoresistor is a type of resistor whose resistance varies with light


    intensity changes; more light leads to less resistance, and less light leads to
    more resistance. They can be easily implemented in light-dependent robots.
    • b) Photovoltaic cells convert solar radiation into electricity. This is especially
    helpful when planning a solar robot. While the photovoltaic cell is considered as an
    energy source, a smart implementation combined with transistors and capacitors
    can convert this into a sensor.

    • 2D & 3D Vision: A standard 2D machine vision image is flat, calibrated to measure


    length and width, but does not provide any height information. 3D vision allows a
    robot to detect the orientation of a part that needs handling more effectively, even
    if the location and position of the components vary.

    • A 3D vision system can accurately guide a robotic arm during assembly, while a
    robotic arm can provide multiple viewing angles for critical assembly inspection.
    Sound Sensor
    • Sound sensors are generally a microphone used to detect the equivalent
    voltage of sound and return. The sound it receives can be navigated by a
    simple robot.
    • Complex robots may use the same microphone for voice recognition. Sound
    sensors are not as easy as light sensors because sound sensors generate a
    minimal voltage difference which should be amplified to produce a
    measurable change in voltage.
    • Voice systems also use robots with voice commands. This is useful if the
    trainer has to handle other objects when training robots.
    Proximity Sensor
    • The nearby object can be detected by a proximity sensor without physical
    contact. The transmitter transmits electromagnetic radiation in the
    adjacent sensor and receives and analyzes the interruption feedback signal.

    • Thus, the amount of light received in the area can be used to detect the
    presence of nearby objects.

    • The sensors provide a collision avoidance method for the robot.


    • There are various types of proximity sensors, and only a few of
    them are usually used in robots.
    • Infrared (IR) transceiver: An IR LED transmits an IR light beam
    that reflects the light captured by an IR recipient when an
    obstacle is found.
    • Ultrasound Sensor: These sensors generate sound waves at
    high frequencies; the received echo indicates an object is
    interrupted. Ultrasound sensors can also be used for distance
    measurement.
    • Photoresistor: Photoresistor is a light sensor, but it can still be
    utilized as a sensor of proximity. If an object approaches the
    Current Applications
    • Incorporating a sensory system in a robot will enable its use in a wide range
    of applications, such as:

    • They can be used in medical applications and used to help children and
    adults suffering from mental and physical disabilities

    • Robots with sensory systems similar to that of fish and amphibians can be
    used underwater and can withstand harsh conditions

    • Robots equipped with advanced sensory systems are used for search and
    rescue operations.
    Future Developments
    • Researchers are working towards a robot that will have all the capabilities of a
    human being and maybe more.

    • Incorporating suitable sensory systems is the only way to achieve this goal
    hence this research is ongoing.

    • Researchers are striving towards a robotic system that can recognize and
    engage in joint attention behaviours enabling social interaction between
    humans and robots, something that has not been possible before.
    • The robot of the future will be able to learn from an observer with normal
    social signals just like human infants learn.

    • The robot will be able to express its desires, ambitions and goals through
    social interactions without depending on an artificial vocabulary.

    • Hopefully, future robots will also be able to recognize a human’s desires and
    ambitions and adjust its behaviour accordingly.
    Robot Vision
    • Robotic vision systems consist of one or more cameras, special-purpose
    lighting, software, and a robot or robots.

    • The camera takes a picture of the working area or object the robot will grip and
    software searches the image for features that let it determine position and
    orientation.

    • This information is sent to the robot controller and the programmed positions
    are updated. Depending on the application, the camera might be mounted on
    the robot or could be in a fixed position within the cell.

    • Calibration is usually needed to relate the vision system coordinate space to


    the robot
    Tactile Sensors
    Tactile Sensor is a device specifying an object’s contact.
    Often used in everyday objects such as elevator buttons
    and lamps, which dim or brighten by touching the base, a
    tactile sensor allows the robot to touch and feel. These
    sensors are used to measure applications and gently
    interact with the environment. It can be sorted into two
    principal types: Touch Sensor and Force Sensor.
    • Touch Sensor or Contact Sensor: Touch Sensor is capable of sensing and
    detecting sensor and object touch. Some of the commonly used simple devices
    are micro-switches, limit switches, etc. These sensors are mostly used for robots
    to avoid obstacles. When these sensors hit an obstacle, it triggers a task for the
    robot, which can be reversed, turned, switched on, stopped, etc.

    • Force Sensor: Force sensor is included in calculating the forces of several


    functions, such as machine loading & unloading, material handling, and so on,
    performed by a robot. This sensor will also be a better assembly process to check
    problems.
    Temperature Sensor
    • Temperature sensors are used to detect the surrounding temperature
    change.
    • It is based on the principle of voltage difference change for a
    temperature change; this voltage change will provide the surrounding
    temperature equivalent.
    • Temperature sensing applications include air temperature, surface
    temperature, immersion temperature.
    Navigation and Positioning Sensors
    • Positioning sensors are used to approximate the position of a robot. The
    usual positioning sensor is a GPS (Global Positioning System).
    • Satellites orbiting our Earth transmit signals, and a robot receiver acquires
    and processes these signals.
    • Use the processed information to determine a robot’s approximate
    position and velocity.
    • Digital Magnetic Compass provides directional measurements using the
    Earth’s magnetic field that guides your robot to reach its destination.
    • Compared to GPS modules, these sensors are cheap, but a compass
    works best when you need both positional feedback and navigation.

    • Another method called location refers to the task of automatically


    determining a robot’s location based on external elements such as
    natural and artificially placed landmarks such as doors, windows,
    walls, etc.
    Acceleration Sensor
    • An accelerometer is a device for measuring acceleration and
    tilt. The two types of forces affect an accelerometer:
    • Static Force — the frictional force between any two objects.
    • By measuring this gravity, we can determine how much robot
    tilts.
    • This measurement is useful in balancing robot or determining
    whether a robot is driving on a flat or uphill surface.
    • Dynamic Force — The acceleration required to move an
    object.
    • Measuring dynamic force using an accelerometer tells the

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