Lecturer :Engr. Khairuddin bin Osman

A/3-40, 06-5552142

Faculty :Faculty of Electronic & Computer Engineering

INDUSTRIAL ROBOTICS

Chapter 1:

“Introduction to Industrial Robotics”

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r Wheeled mobile robot

r Legged mobile robot

ü Industrial robot Manipulator

Which Robot

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Course ObjectiveBy the end of this course, you should be able to:

• Illustrate the anatomy of industrial manipulator and solve the manipulator coordinate mapping and transformation.

• Analyze kinematics parameters of industrial manipulator and solve its forward kinematics.

• Analyze and solve the inverse kinematics of industrial manipulator.• Analyze robot’s dynamics which include modeling and solving of

simple joint velocities, forces and torques.• Design and analyze simple manipulator controller based on several

techniques.• Categorize the design based on sustainable development criteria. • Prepare course assignment and present technical findings both orally

and in writing.

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Topics

• Introduction, Manipulator Anatomy Coordinate Mapping and Transformation (4 weeks)

• Manipulator Kinematics (2 weeks)• Inverse Kinematics (2 weeks)• Manipulator Dynamics (2 weeks)• Trajectory Generation (1 weeks)• Robot Control System (1 week)

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Reference

[1] J.J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Edition, Upper Saddle River, NJ, Pearson Prentice Hall,2005.

[2] Man Zhihong, Robotic, 2nd Edition, Singapore, Pearson Prentice Hall, 2005.

[3] Mikell P. Groover, Automation, Production Systems and Computer-Integrated Manufacturing, 3rd Edition, Upper SaddleRiver, NJ Pearson Prentice Hall, 2008.

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Course Evaluatio n

Final Exam 50 %Assignment x 2 20 %Test x 2 30%

TOTAL 100 %

Lab Sessions: BENE 4771 Industrial Electronics Lab 3

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Prerequisite Skill

Knowledge and skill needed to excel in thiscourse:• Matrix calculations• Trigonometric manipulation• Visualize in 3 dimensions• Good teamwork skill especially among group members

Industrial Robot Defined

A general-purpose, programmable machine possessing certainanthropomorphic characteristics• Why industrial robots are important:

– Robots can substitute for humans in hazardous work environments

– Consistency and accuracy not attainable by humans– Can be reprogrammed– Most robots are controlled by computers and can

therefore be interfaced to other computer systems

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What is a Manipulato r?

• Japan Industrial Robot Association (JIRA):‘A machine that functions similar to human limbs and moves objects spatially’

• Locally, even SMI are using manipulators for:Ø Material handling – loading & unloadingØ AssemblyØ Processing – welding, spray paintingØ Inspection etc

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Advantages

Qualitative:ü Robot’s accuracy and repeatability à consistent quality% Accuracy & repeatability ≠ quality. Why?ü Productivityü Flexibility (vs fixed automation): product mix, production

schedule and volumeü Human safety – avoiding hazardous material, product,

process or working environment

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(?) Cost:(based on longer term of robot life)ü Labor and human resource developmentü Reduce material consumptionsü Reduce rejects and scrapü Reduce Work-In-Process inventoryü Increase production capacityü Increase productivity

Advantages

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Cost:§ Manipulator and accessories§ Specialized tools§ Installation§ Layout changes§ Maintenance§ Safety equipment§ Training§ Robot programming and control

Disadvantages

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Conclusion: Check Outcome

• List 3 general application of manipulator.• List 3 advantages of using a manipulator in manufacturing.• List 3 disadvantages of using a manipulator in

manufacturing.• What is the difference between accuracy and repeatability?• Do we always get excellent quality with high accuracy and

repeatability? Explain.

THANK YOU

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