Robot Control types and applications 2024
- 1. ROBOTICS ROBOT CONTROL TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 2. 2 ROBOT CONTROL Classification Based on Control Systems: – 1. Point-to-point (PTP) control robot – 2. Continuous-path (CP) control robot – 3. Controlled-path robot TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 3. Point to Point Control Robot (PTP): • The PTP robot is capable of moving from one point to another point. • The locations are recorded in the control memory. PTP robots do not control the path to get from one point to the next point. • Common applications include: – component insertion – spot welding – hole drilling – machine loading and unloading – assembly operations 3 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 4. Continuous-Path Control Robot (CP): • The CP robot is capable of performing movements along the controlled path. With CP from one control, the robot can stop at any specified point along the controlled path. • All the points along the path must be stored explicitly in the robot's control memory. Applications Straight-line motion is the simplest example for this type of robot. Some continuous-path controlled robots also have the capability to follow a smooth curve path that has been defined by the programmer. In such cases the programmer manually moves the robot arm through the desired path and the controller unit stores a large number of individual point locations along the path in memory (teach-in). 4 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 5. Continuous-Path Control Robot (CP): Typical applications include: – spray painting – finishing – gluing – arc welding operations 5 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 6. Controlled-Path Robot: • In controlled-path robots, the control equipment can generate paths of different geometry such as straight lines, circles, and interpolated curves with a high degree of accuracy. Good accuracy can be obtained at any point along the specified path. • Only the start and finish points and the path definition function must be stored in the robot's control memory. It is important to mention that all controlled-path robots have a servo capability to correct their path. 6 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 7. Robot Reach: Robot reach, also known as the work envelope or work volume, is the space of all points in the surrounding space that can be reached by the robot arm. Reach is one of the most important characteristics to be considered in selecting a suitable robot because the application space should not fall out of the selected robot's reach. 7 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 8. Robot Reach: • For a Cartesian configuration the reach is a rectangular-type space. • For a cylindrical configuration the reach is a hollow cylindrical space. • For a polar configuration the reach is part of a hollow spherical shape. • Robot reach for a jointed-arm configuration does not have a specific shape. 8 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 9. 9 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 10. ROBOT MOTION ANALYSIS In robot motion analysis we study the geometry of the robot arm with respect to a reference coordinate system, while the end-effector moves along the prescribed path . 10 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 11. The kinematic analysis involves two different kinds of problems: – 1. Determining the coordinates of the end- effector or end of arm for a given set of joints coordinates. – 2. Determining the joints coordinates for a given location of the end-effector or end of arm. ROBOT MOTION ANALYSIS 11 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 12. The position, V, of the end-effector can be defined in the Cartesian coordinate system, as: V = (x, y) ROBOT MOTION ANALYSIS 12 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 13. Generally, for robots the location of the end-effector can be defined in two systems: a. joint space and b. world space (also known as global space) ROBOT MOTION ANALYSIS 13 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 14. In joint space, the joint parameters such as rotating or twisting joint angles and variable link lengths are used to represent the position of the end-effector. – Vj = (q, a) for RR robot – Vj = (L1, , L2) for LL robot – Vj = (a, L2) for TL robot where Vj refers to the position of the end- effector in joint space. ROBOT MOTION ANALYSIS 14 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 15. In world space, rectilinear coordinates with reference to the basic Cartesian system are used to define the position of the end-effector. Usually the origin of the Cartesian axes is located in the robot's base. – VW = (x, y) where VW refers to the position of the end- effector in world space. ROBOT MOTION ANALYSIS 15 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
- 16. • The transformation of coordinates of the end-effector point from the joint space to the world space is known as forward kinematic transformation. • Similarly, the transformation of coordinates from world space to joint space is known as backward or reverse kinematic transformation. ROBOT MOTION ANALYSIS 16 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS