1. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM

2. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Sensory  Uses sensors for feedback.  Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors.  Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision.

3. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Measures of performance  Working volume  The space within which the robot operates.  Larger volume costs more but can increase the capabilities of a robot  Speed and acceleration  Faster speed often reduces resolution or increases cost  Varies depending on position, load.  Speed can be limited by the task the robot performs (welding, cutting)  Resolution  Often a speed tradeoff  The smallest step the robot can take

4. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Accuracy –The difference between the actual position of the robot and the programmed position Repeatability Will the robot always return to the same point under the same control conditions? Increased cost Varies depending on position, load Performance (cont.)

5. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Control Open loop, i.e., no feedback, deterministic Closed loop, i.e., feedback, maybe a sense of touch and/or vision

6. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM  Degrees of freedom—number of independent motions  Translation--3 independent directions  Rotation-- 3 independent axes  2D motion = 3 degrees of freedom: 2 translation, 1 rotation  3D motion = 6 degrees of freedom: 3 translation, 3 rotation Kinematics and dynamics

7. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM  Actions  Simple joints  prismatic—sliding joint, e.g., square cylinder in square tube  revolute—hinge joint  Compound joints  ball and socket = 3 revolute joints  round cylinder in tube = 1 prismatic, 1 revolute  Mobility  Wheels  multipedal (multi-legged with a sequence of actions) Kinematics and dynamics (cont.)

8. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Robot Configurations (cont’d) Spherical joint (2RP): They follow a spherical coordinate system, which has one

9. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Spherical Robot - Work Envelope

10. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Robot Configurations (cont’d) Articulated/anthropomorphic(3R) :An articulated robot’s joints are all revolute, similar to a human’s arm.

11. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Robot Configurations (cont’d) Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They have two revolute joints that are parallel and allow the Robot to move in a horizontal plane, plus an additional prismatic joint that moves vertically

12. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Robot Configurations

13. KAASHIV INFOTECH – A SOFTWARE CUM RESEARCH COMPANY IN ELECTRONICS, ELECTRICAL, CIVIL AND MECHANICAL AREAS WWW.KAASHIVINFOTECH.COM Reference Frames  World Reference Frame which is a universal coordinate frame, as defined by the x-y-z axes. In this case the joints of the robot move simultaneously so as to create motions along the three major axes.  Joint Reference Frame which is used to specify movements of each individual joint of the Robot. In this case each joint may be accessed individually and thus only one joint moves at a time.  Tool Reference Frame which specifies the movements of the Robots hand relative to the frame attached to the hand. The x’,y’and z’ axes attached to the hand define the motions of the hand relative to this local frame. All joints of the Robot move simultaneously to create coordinated motions about the Tool frame.

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