1. Introduction to Robot Design
Jangmyung Lee
Spring, 2018

2. Course Objectives & Description
In this class, the basic theories related to robotics, such as, kinemaitcs, dynamics, and control, are lectured in detail. Basically robotics is the fusion of several engineering fields and requires various information on control and systems with various application fields.
Through this class, various control algorithms which are very recent and highly skillful will be discussed to take advantages of electrical and electronics engineers.

3. Course Objectives & Description
Course Description
Before the mid-term examination, the fundamental components of robotics, kinematics and inverse kinematics, will be lectured in detail analytically.
To evaluate the results of the lecture, the mid-term examination will be taken.
After the mid-term, dynamics and control of the robot will be discussed.
Finally, the interaction schemes between human and robot will be discussed in detail. The final examination will cover the whole contents of this class.

4. Course Information References: Requirements & Grading Report
Introduction to Robotics, Third Edition, John J. Craig
Robot Dynamics and Control, Mark Spong
Requirements & Grading
Mid-term 40%, Final Examination 50%, Report 10%
Report
10 problems per each week/topic.
Due on the next week.
Mid-term / Final examinations
11 problems from report.

5. Course Information Instructor's information Homepage (Lecture Note)
Tel :
Office Hours : Tuesday 1 ~ 5 p.m.
Homepage (Lecture Note)

6. 1. Introduction to robot design
For the development of Intelligent Robots

7. Table of Contents Definition of Robot
Components and Structure of Robots
Kinematic shapes and classifications
General classifications
Fundamentals of robotics

8. 1.1 INTRODUCTION
Robotics is a new subject which is fused with recent technologies and the traditional engineering.
Required subjects for the intelligent robot design and applications:
Electrical/Electronics Engineering, Mechanical Engineering, Industrial Engineering, Computer science, Economics, Mathematics

9. [Fig 1-1] Cincinnati Milacron Industrial Manipulator
Cincinnati Milacron T3
[Fig 1-1] Cincinnati Milacron Industrial Manipulator

10. 1.2 Definition of ROBOT Origin of Robot:
Czech playwright, Karel Capek used the word Robota in his Rossum’s Universal Robots(1920).
Robota means ‘work’in Czech word.
Robot may include all the autonomous machines under the computer control.

11. Robot needs intelligence.
Robot Definition from RIA (Robot Institute of America)
A robot is a reprogrammable multifunctional manipulator designed to move material parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.
The intrinsic feature of the robot: Reprogrammable.

12. Smart Work: Tele-operation of Tasks
Robot stands for human?
Robot is developed rapidly with computer technologies
Usage of Industrial Robots:
- decreased labor costs.
- increased precision and productivity
- increased flexibility compared with specialized machines
3D(dull, repetitive, or hazardous jobs) tasks are replaced by robots
Smart Work: Tele-operation of Tasks

13. Early Development Robot :
Tele-operators + Numerically Controlled milling Machines
Tele-operators or master-slave devices
During the second world war, for the development of nuclear weapon
Computer Numerical Control (CNC):
High speed/ high accuracy are required.

14. Robot Applications in Early Stage
Early success examples:
material transfer, such as injection molding or stamping
A sequence of movements:
moving to a location A,
closing a gripper,
moving to a location B, etc.
No external sensory capability(Sensory information is directly connected to the intelligence.

15. Expansion of application fields
Welding, Grinding, Deburring, and Assembly
- Complex motion requires more sensors, such as, vision, tactile,
voice recognition or force sensing.
When the robot is interaction with the environment
- Sensory information is desperately required.

16. 1.3 Robot Components and Structures
[Fig. 1-2] Symbolic representation of Robot Joints

17. Joint Types in 3D
[Fig. 1-3] Joint types

18. Main Components of a Robot
Robot manipulators: links + joints
open kinematic chain.
A revolute joint: relative rotation between two links.
A prismatic joint: a linear relative motion between two links.
(R) For revolute joints
(P) For prismatic joints

19. Components of Robotic System
[Fig. 1-4] A Robotic system.

20. Terminologies Joint variables, : for a revolute joint
: for a prismatic joint
Driving method : Electric, hydraulic, and pneumatic drivers
Degree-Of-Freedom (DOF)

21. DOF
The number of degrees of freedom (DOF) of a mechanical system is equal to the number of independent parameters (measurements) that are needed to uniquely define its position in space at any instant of time. And it is defined with respect to a reference frame

22. DOF 6-DOF: For positioning : Three degrees of freedom
Orientation : Three degrees of freedom
With less than 6-DOF arm, an arbitrary position/orientation cannot be achieved.
The arm with more than 6-DOF is named as a redundant manipulator.

23. [Fig. 1-5] Manipulator Geometries
Basic Manipulator Geometries
Revolute coordinates (RRR)
Spherical coordinates (RRP)
SCARA arm (RRP)
Cylindrical coordinates(RPP)
Rectangular coordinates(PPP)
[Fig. 1-5] Manipulator Geometries

24. [Fig. 1-6] RRP multi-joints manipulator
Ex 1.1
[Fig. 1-6] RRP multi-joints manipulator
Sol) RRP multi-joints manipulator has three independent variables, that is,
it has 3-DOF.

25. Workspace
Workspace is defined as the space which can be formed by all the possible motions of the manipulator’s end-effector.
Reachable workspace: Any space where the manipulator can reach
Dexterous workspace: The space where the manipulator can reach with an arbitrary orientation

26. Accuracy versus Repeatability
Accuracy: How closely the manipulator approaches at the desired position
Repeatability: How closely the manipulator approaches at the previous position.
Normally manipulators have a high repeatability, but a relatively low accuracy.

27. 1.4 Classification of Robot
Robot Classification:
Kinematic structure
Applications
Control method etc…
Geometrical classification is general.
Industrial robots have 6 DOF or less generally.

28. Geometric Types Robot: Combination of Arm and Wrist.
Five Arm structures:
RRR, Spherical (RRP), SCARA (RRP), Cylindrical (RPP), Gantry(PPP)

29. Elbow Manipulator (Typical RRR)
[Fig. 1-7] Structure of Elbow Manipulator

30. Unimation PUMA
[Fig. 1-8] PUMA 500 Robot

31. Articulated Configuration (RRR)
[Fig. 1-9] Cincinnati Milacron Robot

32. [Fig. 1-10] Workspace of Elbow Manipulator
Side view
Ground Plan
[Fig. 1-10] Workspace of Elbow Manipulator

33. Types of Revolute Designs
Articulated manipulator is called as revolute, or anthropomorphic manipulator.
elbow type: PUMA
parallelogram linkage: Cincinnati Milacron

34. Parallelogram Linkage
Stable structure: light linkages can be used to support the load with small motors.
Higher load capability than elbow manipulator.
The motor for Joint 3 locates at Link1, which simplifies the dynamics.

35. Spherical Configuration(RRP)
[Fig. 1-11] Spherical manipulator

36. [Fig. 1-12] Stanford Manipulator

37. [Fig. 1-13] Workspace of Spherical manipulator
Side view
Ground plan
[Fig. 1-13] Workspace of Spherical manipulator

38. SCARA Configuration(RRP)
[Fig. 1-14] SCARA Manipulator

39. [Fig. 1-15] SCARA Robot (AdeptOne Robot)

40. [Fig. 1-16] Workspace of SCARA Manipulator
Side View
Ground Plan
[Fig. 1-16] Workspace of SCARA Manipulator

41. Cylindrical Configuration (RPP)
[Fig. 1-17] Structure of Cylindrical manipulator

42. GMF M-100
[Fig. 1-18] GMF M – 100 robot

43. [Fig. 1-19] Workspace of a Cylindrical Manipulator.
Side view
Ground plan
[Fig. 1-19] Workspace of a Cylindrical Manipulator.

44. Cartesian Configuration (PPP)
[Fig. 1-20] Structure of Cartesian Manipulator

45. [Fig. 1-21] Cincinnati Milacron 886 Gantry Robot

46. [Fig. 1-22] Workspace of Cartesian Manipulator
Side View
Ground plan
[Fig. 1-22] Workspace of Cartesian Manipulator

47. 1.5 Classifications of robot
By power:
electrically, hydraulically, pneumatically
Hydraulic robot is good for heavy load.
noisy and maintenance cost is high
Pneumatic robot: cheap and simple but not accurate

48. Depending on applications
1) Assembly robot
- Electrically driven, PUMA or SCARA type
2) Non-assembly robot
- welding, spray painting, material handling, loading
/unloading

49. By Control Methods 1) Servo robot: closed computer control,
multi-function, reprogrammable
2) non-servo robot: open loop, carrying operation.

50. [Fig. 1-23] Spherical wrist
Servo Robots
Servo robot:
1) Point – to – point robot
2) Continuous path robot
[Fig. 1-23] Spherical wrist

51. Humanoid/Recreation robot
Advanced Robots
UAV
Humanoid/Recreation robot
Micro robot(medical)
Home robot
Intelligent vehicle
Factory robot
Intelligent building

52. Wrist and End - Effector
3-DOF for positioning, 3-DOF for orientation
[Fig. 1-24] Spherical wrist

53. End-Effector Hand or end–effector is very important for the robot.
End-effector actually executes the tasks.
End-effector should have the opening and closing functions.
Figure 1-25 and 1-26 show the simple grippers.

54. End-Effector(Gripper)
[Fig. 1-25] Parallel jaw gripper

55. [Fig. 1-26] Two Fingered Gripper

56. 1.6 Fundamentals of Robotics
[Fig. 1-27] 6-DOF Robot with a Grinding Tool

57. [Fig. 1-28] Two-link Planar Robot

58. [Fig. 1-29] Coordinate Frames of Two-link Planar Robot
Forward Kinematics
Position.
For the given joint angles, , representing the position in Cartesian space is forward kinematics.
(1. 1)
[Fig. 1-29] Coordinate Frames of Two-link Planar Robot

59. Inverse Kinematics
To move robot to a location B (x,y), obtaining joint
variables is inverse kinematics.

60. [Fig. 1-30] Two-link Planar Arm

61. Inverse Kinematics Solution
Law of Cosines:
(1. 2)
(1. 3)
(1. 4)
(1. 5)

62. Velocity kinematics
(1. 6)
(1. 7)

63. Jacobian
(1. 8)
(1. 9)

64. Inverse Jacobian
(1. 10)
(1. 11)

65. Singular Configuration
[Fig. 1-31] Singular Configuration

66. Dynamics For joint motions ,
obtaining the necessary torques, , is dynamics.
Newton - Euler Formulation
Euler - Lagrange Formulation

67. Control
Independent joint control, adaptive control, optimal control, force/impedance control, and cooperative control

68. Sensor Applications
Position sensors: varistor, Tachometer, Encoder, CCD camera, ultrasonic sensor
Force sensor: F/T sensor, pressure sensor, gyro, Tactile sensor

69. Discussions When the intelligent robots are coming to us?
--- 4th Industry Renovation will shorten the time to come.
How they look like?
--- It looks like almost the same as human being.