Introduction to Robotics - Industrial Robots

Study Notes

Components of Industrial Robots

Controllers: Programmable devices that process input data (e.g., user and sensor data) and manage robot actuators. Can be open-source (e.g., Raspberry Pi) or proprietary.
Actuators: Devices that create motion. Types include linear actuators (for straight movement) and angular actuators (for rotation).
Sensors: Data-driven devices that capture various types of information based on data capabilities and output types.
Manipulators: Non-rigid systems that control the position and orientation of the robot’s end-effector, analogous to a human arm.
End-effectors: Tools or devices at the end of the robot that perform specific tasks, such as grippers or specialized tools.
Industrial Robot Composition: The combination of manipulators and end-effectors forms a complete industrial robot.

Terminologies Used in Industrial Robotics

Degree of Freedom (DOF): Refers to the number of independent movements a robot joint can perform. More DOFs allow for more complex movements.
Global Coordinates: Fixed reference points relative to the robot's base, used for spatial awareness and navigation.
Local Coordinates: Refers to the coordinates of the robot's end-effector, which is more flexible and variable than global coordinates.
Work Envelope: The volume of space within the reach of the robot. It indicates the maximum extent of the robot's arm or tool movement.
Payload Capacity: The maximum weight a robot can lift or move, including its own weight. This is critical for ensuring robots can handle tasks effectively.
Accuracy vs Precision:
- Accuracy: Refers to how close a robot's performance is to the desired target.
- Precision: Refers to the reproducibility of the robot's performance, even if it's not hitting the target accurately.
Reliability vs Repeatability:
- Reliability: The robot's ability to perform a task consistently when required.
- Repeatability: The robot's capability to return to a specific pre-programmed position reliably.
Additional Terminologies:
- Axis: Direction of motion for a robot, either linear or rotary.
- Speed: The rate at which a robot can position its end-effector, measured in angular or linear speed.### Key Concepts in Robotics
Speed of arm movement correlates with multiple axes moving simultaneously.
Acceleration determines how fast a robotic arm can gain speed for operations.
Prismatic joints enable linear sliding movements between bodies, often referred to as sliders.
Kinematics studies the arrangement of rigid members and joints in robots, affecting possible motion patterns.

Applications of Industrial Robots

Material Processing Robots
- Engage in manufacturing tasks like machining and welding.
- Welding leads in applications, followed by machining operations.
Surface Treatment Robots
- Perform tasks following material processing such as finishing, grinding, polishing, coating, spray painting, etc.
Handling Robots
- Execute repetitive tasks including sorting, pick-and-place operations, loading/unloading, and reorienting of materials.
Assembly Robots
- Commonly utilized in automotive production on fast-paced production lines, often working in teams.
Inspection Robots
- Ensure dimensional accuracy and surface quality using advanced sensors and applications to identify defects.

Working with Industrial Robots

Fixed Algorithms
- Ideal for high-volume, repetitive tasks unmanageable for humans over extended periods.
CNC-Based Algorithms
- Allow complex cutting operations to create intricate shapes, typically time-intensive and low in volume.
Smart Industrial Robots
- Feature integrated sensors to adapt to environmental changes and facilitate customized tasks depending on part conditions.
Advanced Algorithms
- Controllers can utilize sophisticated methods including AI, machine learning, and fuzzy logic for enhanced operations.
Cloud Robotics
- Robots connected to cloud resources offload heavy computational tasks and access vast data storage capabilities for better performance.
- Facilitates group robotics (robot-to-robot interaction) and remote supervision (human supervision over robots).
Industrial Cloud Robotics Platforms
- Robots can connect to factory master plans, maintenance records, and production schedules for optimized operations.
- Coordination among robots enhances collective functionality, especially in assembly tasks.

Online Resources in Robotics

IoT Robotics
- Focused on network-ready robot controllers like Arduino, Raspberry Pi, enabling integration into the IoT ecosystem.
- Protocols such as MQTT and JSON enhance data packaging and communication within IoT frameworks.
Robot Operating System (ROS)
- An open-source platform aiding in high-end robot software development.
- Benefits include extensive libraries, community support, and compatibility across platforms, promoting reusability and customization.
Industrial Robot Operating System (iROS)
- A segment of ROS focused on industrial applications, involving collaboration among key industry players.
Other Resources
- OpenCV provides tools for real-time computer vision and image processing.
- Face++, a major platform for image recognition and deep learning, enhances robotic perception.
- Freeboard.io serves as another IoT client focusing on data visualization and interaction.