Robotic Systems PDF

ROBOTIC SYSTEMS‫ال‬ Shaimaa kamel abd Allh Sec:3 1-Robot: An automated machine capable of performing tasks. 2-Workspace: The physical area within which a robot can operate. 3-Accuracy: The degree to which a robot's output matches the desired output. 4-Repeatability: The ability of...

ROBOTIC SYSTEMS‫ال‬ Shaimaa kamel abd Allh Sec:3 1-Robot: An automated machine capable of performing tasks. 2-Workspace: The physical area within which a robot can operate. 3-Accuracy: The degree to which a robot's output matches the desired output. 4-Repeatability: The ability of a robot to return to a specific position consistently. 5-5Resolution: The smallest increment of movement a robot can detect or execute. 6-Robot quality: The overall performance and reliability of a robot. 7-Degree of freedom: The number of independent movements a robot can make. 8-Gripper: A device used by robots to grasp and manipulate objects. 9-Teach pendant: A handheld device used to program and control robots. 9-Work envelope: The volume of space that the robot can reach. 10-Forward kinematics: The calculation of the position of the end effector based on joint parameters. 11-Inverse kinematics: The calculation of joint parameters needed to achieve a desired position of the end effector. 12-Spherical wrist robot: A robotic arm with joints that allow for rotational movement in multiple directions. 13-End effector: The part of the robot that interacts with the environment (e.g., gripper, tool). 14-Robot kinematics: The study of motion without considering forces. 2-Commonly Used Robot Configuration Systems: Cartesian, cylindrical, spherical, SCARA, and articulated configurations. 3-Classification of Robot Motion Control: Open-loop and closed-loop control systems. 4-Types of Hydraulic Actuators: Linear actuators, rotary actuators, and hydraulic cylinders. 5-Examples of Robot End-Effectors: Grippers, welding torches, painting guns, and suction cups. 6-Types of Grippers: Mechanical, pneumatic, hydraulic, and magnetic grippers. 7-Main Ways to Classify Robots: By configuration (e.g., articulated vs. Cartesian), application (e.g., industrial vs. service), or control method (e.g., autonomous vs. teleoperated). 8-List of 10 Robot Applications: Welding (best suited: articulated; least suited: SCARA) Painting (best suited: Cartesian; least suited: spherical) Assembly (best suited: SCARA; least suited: point-to-point) Material handling (best suited: cylindrical; least suited: fixed) Inspection (best suited: mobile; least suited: stationary) Packaging (best suited: delta; least suited: articulated) Surgery (best suited: robotic surgical systems; least suited: industrial robots) Agriculture (best suited: mobile robots; least suited: stationary) Education (best suited: programmable robots; least suited: industrial) Entertainment (best suited: humanoid robots; least suited: industrial) 9-Types of Encoders: Incremental and absolute encoders. -10Feedback Devices Used in Robotics: Sensors like encoders, potentiometers, and accelerometers. -11Types of Drive Systems Used in Robots: Electric, hydraulic, and pneumatic drive systems. 12-Methods of Robot Programming: Teach pendant programming, offline programming, and lead-through programming. 13-Methods of Teaching: Manual guiding and programming via teach pendants. 14-Manipulator Kinematics Explanation with Sketch: Kinematics involves analyzing the motion paths and positions in robotic arms using geometric models. 15-Feedback Control Systems Objectives: To maintain desired output despite disturbances or changes in system dynamics. 16-Resistive Forces of Joint Motion Explanation: Friction, inertia, and external loads that oppose motion in robotic joints. 17-Characteristics of Actuating Systems: Speed, torque, precision, efficiency, and response time. 18-ROBOT Arm Configuration Types with Kinematics Representation Sketches: Various configurations include articulated arms, SCARA arms, etc., each represented by their joint types and movements. 19-Various Types of Robot Control Explanation: Control can be classified into open-loop control and closed-loop feedback systems. 20-Importance of Accuracy in Robotics Explanation on Precision of Movement: Accuracy ensures tasks are performed correctly while precision relates to how consistently a task is executed. 21-Different Types of Sensors: Proximity sensors, vision sensors, tactile sensors, and force sensors. 22-Control System Components for One Joint with Block Diagram Description : Components typically include an actuator, sensor for feedback, controller for processing input/output signals. 23-Applications for Non-Servo Robots vs Point-to-Point vs Continuous Path Robots List: Non-servo robots are often used for repetitive tasks like assembly; point-to-point robots are suitable for pick-and-place tasks; continuous path robots excel in tasks requiring smooth motion like painting. 24-Applications for Continuous Path Robots Over Point-to-Point Robots List: Continuous path robots can perform tasks like contouring or welding along curves that require fluid motion which point-to-point robots cannot achieve effectively. 25-Applications Where Computer Vision is Useful in Robotics List: Object recognition in manufacturing lines, quality inspection processes, autonomous navigation systems in vehicles, robotic surgery assistance, and agricultural monitoring systems. 26-Applications Where Tactile Sensing or Force Feedback is Useful in Robotics List: Tasks requiring delicate handling like assembly operations in electronics manufacturing or surgery where precise force application is critical