Introduction to Robotics

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Introduction to Robotics

i
n

CIM Systems

Chapter 2

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Chapter Goals [abbr.]


Classify Robot based on characteristics


Motion &
coord

sys of various arm
configs
.


V
arious robot
pwr

sources


Torque calculation


Open & Closed Loop operation

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Chapter Goals [abbr.]


Calculate transfer
fcn

& other
params

for
positional feedback devices.


Internal positioning devices


Four types of path control


Robot selection & survey in automation
work cell design

James A.
Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
1

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
2

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
3

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
4

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
6

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
7

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
9

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
11

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
12

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
8

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
14

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
15

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
16

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
17

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 1
-
17

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
18

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
19

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
20

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
21

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
23

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
24

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
25

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
26

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
27

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
28

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
29

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
31

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
34

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
35

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
36

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
37

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
38

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
39

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
40

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Compared to Optical


Disadvantage


More
expensive


Requires an AC reference
voltage


Expensive electronic
components

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition


Advantage



Less
dependent on
mechanical
precision


Electronics
more protected
due to remote
use


More
robust (i.e. doesn’t
have delicate sense element
)


Physically
smaller at higher
resolution


Less
cabling


Always provide Absolute
positioning


Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
43

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
44

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
45

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
46

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
49

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
50

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
51

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
52

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Robot Selection Criteria

Jami Dale

Introduction
to Robotics in CIM
Systems 5
th

edition


Is a collection of parameters about the
work environment, the manufacturing
process requirements, workforce skills
cost and future planning.


Information is correlated to various
equipment parameters and used as a
basis for comparison and selection.

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Robot Survey

Jami Dale

Introduction
to Robotics in CIM
Systems 5
th

edition


Is a set of questions designed to help in
determining if an operation would be
improved by implementing robotics.

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
examples

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition

Example 2
-
1

Example 2
-
2

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
examples

James A. Rehg

Introduction to Robotics in CIM Systems 5
th

edition

Example 2
-
3

Example 2
-
4

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
examples

James A. Rehg

Introduction to Robotics in CIM Systems 5
th

edition

Example 2
-
5

Example 2
-
6

Example 2
-
7

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
examples

James A. Rehg

Introduction to Robotics in CIM Systems 5
th

edition

Example 2
-
8

Example 2
-
9

Example 2
-
10

Example 2
-
11

Example 2
-
12

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Figure 2
-
examples

James A. Rehg

Introduction to Robotics in CIM Systems 5
th

edition

Example 2
-
13

Example 2
-
14

Example 2
-
15

Copyright ©2003 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

All rights reserved.

Assignments


Chapter 2


Homework:


Questions: 1, 2, 6, 9, 10, 17, 18, 19, 25, 37(1 ex.
ea. [5 pts. Ea.]


Problems: 1, 3, 5, 8, 10, 11, 13, 18

[10 pts. Ea.]


Projects: N/A


Chapter 3
-

Read for next class

James A. Rehg

Introduction to Robotics in CIM
Systems 5
th

edition