01IndRobotics Roboticsystems Students

Industrial Robotics
Section I “Robotic Systems”
Dr. Sergio Javier Torres Méndez

1
Course outline
• Section 1: Robotic Systems
• Section 2: Kinetostatics
• Section 3: Dynamics
• Section 4: Control
Dr. Sergio Javier Torres Méndez 2

Section I “Robotic Systems”

1. Robotic Systems
1.1 Mathematical preliminaries

1.2 Historical developments
1.3 Definitions
1.4 Component of a robotic system
1.5 Workspace analysis
1.6 Classification
1.7 Applications

1.1 Mathematical preliminaries
• Notation and symbology

• Trigonometry
• Vector algebra
• Matrix algebra

1.2 Historical developments
• 1954: George Devol designs the first programable

commercial robot “Unimate” which is produced by the
first robotic company “Unimation”.
• 1959: The Artificial Intelligence Laboratory of the MIT

is created.
• 1960: It is introduced to the market the first industrial

robot “Unimate” which is used to move parts.

• 1961: A first Unimate robot is installed at the Ford Motors
Company to feed a forging machine.
• 1965: Its is created the Robotics Institute at the “Carnegie

Melon University”.
• 1966: Trallfa, a Norwegian firm, built and installed a paint

spray robot.
• 1971: The "Standford Arm‘’, a small electric-powered robot

arm, was developed at Standford University.

• 1973: The first robot controlled by a mini-computer appears, the
robot is the "T3"
• 1976: NASA robot "Vinking II" lands on Mars. It has an articulated

robotic arm, to obtain samples of rock from the Martian surface.
• 1978: Numerous companies dedicated to the manufacture of

robots for the industry start to emerge. Only in the decade of the
80, in the USA arise more than 10 companies of great social
capital, founded from their respective matrices of the industrial
sector.
• 1997: HONDA presented P3, a huge humanoid robot, which took

more than 10 years to develop, causing a great worldwide impact
by the enormous advances shown, with respect to its
international competitors.

• 1999: SONY launches "Aibo" a dog-robot. That bring you great
results in free publicity worldwide for his invention, accentuating
the competition with his commercial rival Honda.
• 2000: SONY presents a small humanoid in the "Robodex 2000". As

Americans look at their robots on Mars, Japan looks at their robots
in the face. Each one on their terrain are the kings of robotics.
• 2003: SONY's robot, Qrio, becomes the first fully autonomous

commercial humanoid capable of running. HONDA would be the
first to walk, but SONY was the first to run. The race was open and
other companies announced their intention to join.
• 2005: Researchers at Cornell University (USA) build a robot that

replicates itself.

First Generation:
These type of robots use

open loop control, and they
cannot take into account the
environment variations.
They are designed to be
controlled remotely.

Second Generation:
They use a closed loop

control, with sensors which
allow to capture information
from the surrounding
environment and adapt to
variations.

Third Generation:
These robots have a task

planner; they can adapt in
different environments, they
have a reprogramming
system.
Computers are used to
control the robot with some
sensors.
The age of intelligent robots
had begun

Fourth Generation:
They are highly intelligent

because of their sophisticated
sensorial system.
They use behavior models in
order to interact with some
uncertain circumstances

Fifth Generation:
They are still evolving.

These kind of robots are
expected to be the future of
service work.

1.3 Definitions
• Robotics: Combination of knowledge for the
design, analysis, and control of robots. It is
considered an important part of Mechatronics

• Industrial Robot: automatically controlled,
reprogrammable multipurpose manipulator
programmable in three or more axes, which can be
either fixed in place or mobile for use in industrial
automation applications (ISO 8373)

Videos
17
1.4 Components of a robotic
system
• Robot system: system comprising robot(s), end
effector(s) and any machinery, equipment, devices,
or sensors supporting the robot performing its task
(ISO 8373)
• The industrial robot includes:

– the manipulator, including actuators
– the controller, including teach pendant and any
communication interface (hardware and software).

• Manipulator: machine in which the mechanism
usually consists of a series of segments, jointed or
sliding relative to one another, for the purpose of
grasping and/or moving objects (pieces or tools)
usually in several degrees of freedom (ISO 8373)
19
Example of a robotic system
• Mechanical system
• Actuation system
camera
• Sensorial system robot
• Control system motors
computer encoders
piece
motor
control
commands
driver
Sensorial system
Give information about

Internal the internal robot state
Sensors
Give information about

External the surrounding robot
environment

Internal sensors
Incremental encoder
Linear
Absolute encoder
Position Potentiometer
LVDT (linear variable
Rotative differential transformer)
Resolver
Position sensors
Velocity Tachometers
Hall effect
Extensometer strain gage

Acceleration
y Hall effect switch
force
Piezoelectric switch

External sensors
Limit switches
Pneumatic switches
Contact
Piezoelectrics sensors
Presure transducters
Proximity (inductive, capacitive, optic)

Hall effects
Microwaves
No-contact
Ultrasonics
Laser
Vision

Mechanical system
• Link (element): It could be rigid or elastic. Assuming
rigid links, and taking into account the number of
nodes:
Binary
Ground
Quaternary
Ternary

• Joint: allows the relative motion among two or more
links.
Cylindrical
Revolute Planar
Prismatic Spherical
Screw
• They can be reduced to only two types:
Prismatic joint
Revolute joint
• Joints provide with the number of phisical constraints
between the relative motion of two links.
𝑟 = number of constraints
𝑟 =6−𝑓 =3 𝑓 = number of free movements
Spherical
𝑟 =6−3=3 3 translations
Cilindrical 2 translations
𝑟 =6−2=4
2 rotations

Degrees of freedom
• The minimum number of independent variable to
completely define a robot configuration. This number,
n, can be calculated as:
𝐽
𝑛 = 𝜆 𝐿 − ෍ 𝜆 − 𝑓𝑖
𝑖=1
where:
𝑛 = Degrees of freedom
𝜆 = Maximum number of degrees of freedom: 3 planar, 6 spatial
𝐿 = Number of mobile links
𝐽 = Number of joints
𝑓𝑖 = Degrees of freedom for each joint i
Example
Find the degrees of freedom of the mechanism shown
below:

Solution

Exercise
30
1.5 Classification
• Type of movement: planar, spherical, spatial
• Degrees of freedom: general use (𝑛 = 𝜆), redundant
(𝑛 > 𝜆), deficient (𝑛 < 𝜆)
• Type of kinematic structure: serial (open loop),
parallel (closed loop), hybrid
• Type of actuator: Electric, hydraulic, pneumatic.
• Type of transmission: Direct, conventional.
• Geometry of the workspace: Cartesian, cylindrical,
spherical y articulated.

Cartesian coordinates Spherical coordinates
Cylindrical coordinates Articulated coordinates

cartesian spherical cylindrical
articulated

Examples of industrial robots
• Cartesian Robot
Schematic diagram?
ProLine PL60
(HAHN Automation Plastics)

• Spherical Robot
Schematic diagram?
Robot Stanford

• Cylindrical Robot
Schematic diagram?
RT33 (SEIKO Instruments)

• Articulated Robot
Schematic diagram?
FANUC S900W

Exercise
38
1.6 Workspace
• Represents the set of points (volume) that the
end-effector positions and orientations can
reach.

• Graphical method
Need to draw the

minimum and
maximum ranges of
each joint

• Analythical method
1) Define the curve equations
2) Calculate the area below each curve (integrals)
3) Apply volume equation
𝑌
𝑟
ℎ 𝑉 = 𝜋𝑟 2 ℎ
𝑍
𝑋
𝑌 𝑑𝑉 = 𝜋𝑟 2 𝑑𝑦
𝑑𝑦 𝑑𝑉 = 𝜋 𝑓(𝑦) 2 𝑑𝑦 (360o)
𝑟 = 𝑓(𝑦)
𝑋
Example
For the Mitsubishi RV-M1 robot, find:
a) An analytical expression to
𝜃3 calculate its workspace
b) The numerical value of the
𝑙2 𝑙3
workspace assuming the following
𝜃 parameters:
2
Joints Links
(rad) (mm)
𝑙1 𝜋 𝜋 𝑙1 = 300
− ≤ 𝜃1 ≤
2 2
𝜃1 𝜋 𝜋
− ≤ 𝜃2 ≤ 𝑙2 = 250
2 2
𝜋 𝜋 𝑙3 = 160
− ≤ 𝜃3 ≤
2 2

Solution

SolidWorks (verification)
44
Exercise
45
1.7 Practical applications
The robotic system Mitsubishi MovemasterEX RV-M1 consists of
the following subsystems:
- Robot
- Drive unit
- Personal computer
- Teaching box
- Hand

The robot has 5 revolute joints: base, shoulder, elbow, pitch, and
roll.

Each robot joints and links correspond to the upper part of a
human body

The positive and negative directions for each joint is as follows:

The operation range for each joint is shown below:
1) Waist : +150o, -150º 2) Shoulder : +10o, -120º
3) Elbow : +0o, -110º 4) Pitch : +90o, -90o
5) Roll : +180o, -180o

The general dimension of the robot is as follows:
1) Base length = 300 mm.
2) Upper arm length = 250 mm.
3) Fore arm length = 160 mm.
4) Hand length = 351 mm

Values of the joints at HOME position:
1) Waist : +150º
2) Shoulder : +10º
3) Elbow : +0o
4) Pitch : +10º
5) Roll : +180o

The positive and negtive directions for cartesian motions
(linear) are shown below:

Intro to MATLAB
• Definitions
• Environment
• Programming
• Visualization
• Examples

• MATLAB is the abbreviation of “MATrix LABoratory”.
• MATLAB is a software to perform numeric operations through

vectors and matrices.
• Una de las capacidades más atractivas es la de realizar una

amplia variedad de gráficos en dos y tres dimensiones.
• MATLAB tiene también un lenguaje de programación

propio.

• MATLAB is NOT a spreadsheet
• MATLAB, although it contains a symbolic library to perform

symbolic operations, is NOT recommended for symbolic
operations such as MAPLE
• MATLAB is NOT the solution for every problem we need to

face
• MATLAB is NOT free of cost. The equivalent free and open

source version is OCTAVE: http://www.octave.org

• The programming language used by MATLAB represents a
great high level tool to develop customized applications
MATLAB
High level language 2D y 3D graphics Mathematics tools
External conexion

• MATLAB features
MATLAB
MATLAB
commands
m-files Commands mat-files

console
functions Data
scripts
Defined by management
user
Anonymous

MATLAB environment
Menus Workspace
Directory
Command console
Command History

MATLAB preferences

MATLAB variables
• It is not necessary to declare the variable type; all variables are

declared as double precision.
• Variable x is a 1x1
matrix of double
precision.
• The format of variables is:
short (by default),

long

MATLAB vectors y matrices
• A row vector • A column vector
• Matrix y
• Transpose of matrix y

• The operator ‘:’
• Elements of a matrix

• MATLAB aritmethic operators
 + Addition
 - Subtraction
 * Multiplication
 / Division
 \ Left division
 ^ Power
 ‘ Transpose • MATLAB matrix generators
 eye Unitary matrix
• MATLAB constantes  meshgrid 2D matrix
 pi 3.14159265…  zeros Zero matrix
 i −1, Imaginary factor  ones Ones matrix
 Inf Infinite  rand Uniform random matrix
 Nan Not a number  randn Normal random matrix

• MATLAB matrix operations (linear algebra)

• MATLAB operations element to element ‘.’
 + Addition
 - Subtraction
 .* Multiplication element to element
 ./ Division element to element
 .\ Left division element to element
 .^ Power element to element

MATLAB graphics

MATLAB 2D graphics

MATLAB 2D graphics
• Plot of function sin 𝑥 , 0 ≤ 𝑥 ≤ 4𝜋
Tool bars
Menu
Figure window
Axes of the
coordinate system
Plot

• Multiples plots of functions sin 𝑥 , cos 𝑥 , 0 ≤ 𝑥 ≤ 4𝜋

2 rows by 1 colum

4 rows by 2 colums
subplot(4,2,3)
plot(rand(10,2))

Graphic
edition

MATLAB 3D graphics
3D surfaces Volumetric Vector fields Contour Analytic

MATLAB 3D graphics
• Plot of a 3D helicoidal curve
Axes of the 3D
coordinate system
3D plot

Axes of the 3D
coordinate system
Surface

MATLAB logical operators
 == Equal to
 ~= Not equal
 < Less than
 > Greater than
 <= Less than or equal to
 >= Greater than or equal to
 & and
 | or

if MATLAB flow control operators while
for
n
n
s s
switch-case
s
continue break
n
s

MATLAB control structures
 If Example
if (Condition_1)
Commands of MATLAB
…
elseif (Condition_2)
Commands of MATLAB
…
else
Commands of MATLAB
end

 For
Example
for i=Array_index
Commands of MATLAB
…
end

Example
 While
while (condition)
Commands of MATLAB
…
end

MATLAB m-files (*.m)
New program
Run program
Written console

• Change of directory for m-files

• “%” is used to add comments in MATLAB
• “pause” is used to stop or delay MATLAB programs to

run
pause %waits until touching any keyboard

pause(3) %waits 3 seconds

• MATALB script program (m-file)
Run the program by writing its name:

Save a file as >> ejem_traza
ejem_traza.m Or by pressing the button “run”
A script program
is a sequence of
instructions or
commands of
MATLAB

MATLAB funtions
• Functions can receive several values and return one or several
results.
• MATLAB has a lot of functions which are located at the
directory toolbox\matlab
Code of the
MATLAB
function
trace()

• Examples of MATLAB functions
Basic mathematical
functions
Basic matrix functions

MATLAB user defined functions
• These functions are saved as *.m files which must be found
in the current directory (or in a directory defined in the
path).
• An user defined function is defined as:
function out1=functionname(in1)
function out1=functionname(in1,in2,in3)
function [out1,out2]=functionname(in1,in2)
• It must be written at the beginning of the m-file

• Calling a user defined function
This function calculates the trace of a given Save the file as
square matrix ejem_funcion_traza.m
Code of the function

ejem_funcion_traza(A)
The function is called by written:

>> ejem_funcion_traza

MATLAB symbolic functions
Symbolic functions from

the MATLAB tool library

• Example of the differential operator “diff”
Declare symbolic varibles
Write symbolic
expression
Apply the differential

operator with respect
to the variable “y”
Apply the differential

operator with respect
to variable “v”

• Examples of the symbolic library

MATLAB polinomials
The coefficients of a polynomial expression are used in MATLAB
For example:
x2 + x = 0
The coefficients:
1x2 + 1x + 0 = 0
In MATLAB
[1 1 0]

MATLAB system of linear equations
Solution with the universal operator “\”

Industrial Robotics
End of Section I
“Robotic Systems”

01IndRobotics Roboticsystems Students

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Industrial Robotics

Section I “Robotic Systems”

Dr. Sergio Javier Torres Méndez

Dr. Sergio Javier Torres Méndez 2

Dr. Sergio Javier Torres Méndez 3

1.1 Mathematical preliminaries

Dr. Sergio Javier Torres Méndez 4

• Notation and symbology

Dr. Sergio Javier Torres Méndez 5

• 1954: George Devol designs the first programable

• 1959: The Artificial Intelligence Laboratory of the MIT

• 1960: It is introduced to the market the first industrial

Dr. Sergio Javier Torres Méndez 6

• 1965: Its is created the Robotics Institute at the “Carnegie

• 1966: Trallfa, a Norwegian firm, built and installed a paint

• 1971: The "Standford Arm‘’, a small electric-powered robot

Dr. Sergio Javier Torres Méndez 7

• 1976: NASA robot "Vinking II" lands on Mars. It has an articulated

• 1978: Numerous companies dedicated to the manufacture of

• 1997: HONDA presented P3, a huge humanoid robot, which took

Dr. Sergio Javier Torres Méndez 8

• 2000: SONY presents a small humanoid in the "Robodex 2000". As

• 2003: SONY's robot, Qrio, becomes the first fully autonomous

• 2005: Researchers at Cornell University (USA) build a robot that

Dr. Sergio Javier Torres Méndez 9

These type of robots use

Dr. Sergio Javier Torres Méndez 10

They use a closed loop

Dr. Sergio Javier Torres Méndez 11

These robots have a task

Dr. Sergio Javier Torres Méndez 12

They are highly intelligent

Dr. Sergio Javier Torres Méndez 13

They are still evolving.

Dr. Sergio Javier Torres Méndez 14

Dr. Sergio Javier Torres Méndez 15

Dr. Sergio Javier Torres Méndez 16

• The industrial robot includes:

Dr. Sergio Javier Torres Méndez 18

Give information about

Give information about

Dr. Sergio Javier Torres Méndez 21

Extensometer strain gage

Dr. Sergio Javier Torres Méndez 22

Proximity (inductive, capacitive, optic)

Dr. Sergio Javier Torres Méndez 23

Dr. Sergio Javier Torres Méndez 24

Dr. Sergio Javier Torres Méndez 26

Dr. Sergio Javier Torres Méndez 28

Dr. Sergio Javier Torres Méndez 29

Dr. Sergio Javier Torres Méndez 31

Cylindrical coordinates Articulated coordinates

Dr. Sergio Javier Torres Méndez 33

Dr. Sergio Javier Torres Méndez 34

Dr. Sergio Javier Torres Méndez 35

RT33 (SEIKO Instruments)

Dr. Sergio Javier Torres Méndez 36

Dr. Sergio Javier Torres Méndez 37

Dr. Sergio Javier Torres Méndez 39

Need to draw the

Dr. Sergio Javier Torres Méndez 40

Dr. Sergio Javier Torres Méndez 42

Dr. Sergio Javier Torres Méndez 43

Dr. Sergio Javier Torres Méndez 46