INDUSTRIAL TRAINING REPORT

ROBOTICS , KODACY

Submitted in partial fulfillment of the

Requirements for the award of
Degree of Bachelor of Technology in Electronics & Communication
Engineering

Submitted By

Name-Divyanshu Gupta
Roll No-0103EC201063 EC VII Semester

Submitted to
Department of Electronics & Communication Engineering
LAKSHMI NARAIN COLLEGE OF TECHNOLOGY, BHOPAL
 DECLARATION
I hereby declare that the Industrial Training Report on (Robotics, Kodacy) is
an authentic record of my own work as requirements of Internship /Industrial
Training during the period from 15/09/2023 to 30/09/2023 for the award of degree
of B.Tech. (Electronics & Communication Engineering), Lakshmi Narain College of
Technology, Bhopal (MP), under the guidance of (Name of Faculty Facilitator).

(Signature of student)
Divyanshu Gupta
0103EC201063
Date: ____________________
 Certificate
Certified that the above statement made by the student is correct to the best of our
knowledge and belief

Examined by:

Signature Signature
(Name of Faculty Facilitator) Head of Department
 ACKNOWLEDGEMENT
First and foremost, I wish to express my sincere thanks and gratitude to my
esteemed Mentor “Mr. Akash Joseph” who has contributed so much for successful
completion of my Industrial Training by his thoughtful reviews and valuable
guidance. Next I would like to tender my sincere thanks to Dr. Soni Changlani
Professor & Head Department of Electronics & Communication Engineering and
Dr. L N Gahalod Faculty In-charge for their co-operation and encouragement.

(Signature of student)
Divyanshu Gupta
0103EC201063
 ABOUT KODACY

Kodacy is an educational platform under the parent company SPACE Kodacy aims to
provide affordable and accessible education to everyone, anywhere across the world.
We believe that education is o fundamental right and it shouldn't be elusive to only few
people who can afford huge costs. Through our innovative products and specially
designed courses, we provide online courses through a virtual platform to facilitate time
independent learning for all Our cutting edge technology in Augmented Reality helps
users learn complicated concepts in Robotics, Drone technology etc in an easy to
understand and visualise mannerWe look forward to bring out more courses in the
future and promote affordable and quality education for everyone, anywhere across the
worldOur story began a few years ago when india was transitioning itself into a service-
based economy, Internet was booming and digital innovations were growing rapidly.
A lot of jobs were being created in the IT sector. Suddenly, everyone had a phone in
their hand Thus, the job opportunities in this sector were growing exponentially. But
there was a problem.Wo grew up in a middle class family in rural India, Access to the
internet was a very rare thing back then Even if it was available, it was beyond anything
our parents could afford. So pursuing a career or studying programming or any other
course related to the IT field was a distant dream for us During the same period, we
met a classmate of ours from another state in India. He came from a very poor village
His education, till the 5th grade, was under a village tree as there was no school in his
village. He was the first person in his whole family, and among the very few in his
village, to get admission to college and get graduated.This made us think. There are a
lot of people like us and our friends who can't afford costly courses or buy expensive
devices to study courses related to the IT sector. They are being left out of the digital
era because of the inaccessibility of good courses at affordable prices We understood
that the world needs people with creativity, and just academic results and privileged
people can't create a technically advanced future. So we thought of creating a firm that
can create endless possibilities accessible to everyone across the world and inspire
other people to create a world on their own.
 CONTENTS
LIST OF FIGURES…………………………………………Ⅱ

CHAPTER Ⅰ INTRODUTION OF ROBOTICS……....... 3

CHAPTER Ⅱ INDUSTRIAL TRAINING………………... 6

OBJECTIVE………………………………………………………….15

CONFIGURATION ………………………………………………….8

ARCHITECTURE OF ROBOTS …………………………………..24

CHAPTER Ⅲ PROBLEM IDENTIFICATION …………. 30

CHAPTER ⅣRECOMMENDATION……………………. 32

REFRENCES……………………………………………….. 34
 LIST OF FIGURES

FIGURE1 SCARA…………………………………...……15

FIGURE 2 CYLINDRICAL WORK FORMAT …..…...21

FIGURE 3 LINKS AND JOINT……………………..…..24

II
 CHAPTER Ⅰ

INTRODUCTION

3
INTRODUCTON OF ROBOTICS
Technology has changed our lives in countless ways, but it can also change them for
the better. Robotics technology is expected to be one of the 21st century's greatest
disruptors, helping us work more efficiently and even survive on other planets. Robotics
is a field of science working with machines that perform tasks based on predetermined
and adaptive programs and algorithms in an automatic or semiautomatic way. These
machines - commonly called robots - are either controlled by humans or work entirely
under the supervision of a computer application and algorithms. Robotics is a
comprehensive concept that includes the building, planning and programming of
robots. These robots are in direct contact with the physical world - and they have often
been used to perform monotonous and repetitive tasks instead of human beings.
Robotics technology has grown exponentially, making it possible for us to develop
some amazing applications From driverless cars to medical robots that can perform
surgery and even detect skin cancer, these are just a few of the ways robotics is changing
the world.
Robotics is the intersection of science, engineering and technology that produces
machines called robots that substitute or replicate human actions. Since the beginning
of time, people have wanted to build machines that could do things that could not be
done without them. From simple tools to complex systems, we've been trying to make
our lives easier through the use of machines. Each year, more and more people are
learning about robotics as a way to better understand how humans interact with
technology machines called robots that substitute or replicate human actions. Since the
beginning of time, people have wanted to build machines that could do things that could
not be done without them. From simple tools to complex systems, we've been trying to
make our lives easier through the use of machines. Each year, more and more people
are learning about robotics as a way to better understand how humans interact with
technology. Robotics is the study and development of the theory, design, construction,
operation and application of autonomous agents that can perceive their environment
and react to it.

4
Robotics involves understanding how a system works, such as its components or how
it interacts with other systems. These include sensors that measure environmental
conditions and computing systems that process information from those sensors .
Robotics is an important part of modem industry as it has been widely used in
manufacturing processes. Robotics helps produce goods faster and more efficiently
than human workers. In addition to this, robots have been used in many fields such as
military technology, social sciences and even entertainment.

5
 CHAPTER Ⅱ

INDUSTRIAL TRAINING

6
 1. OBJECTIVES OF ROBOTICS
Robotics is now one of humanity's greatest achievements and the single greatest
endeavour to create an artificial, sentient entity, The idea of a machine that looks and
behaves like a human being goes back at least 2,000 years. According to Greek
mythology, Hephaestus, the god of fire, constructed artificial women out of gold. These
women were able to walk, talk, and even to think. The term "robot" comes from a
Czechoslovakian word for "work" used in the 1921 play by Karel Capek called R.U.R.
("Rossum's Universal Robots") to describe an army of manufactured industrial slaves.
Since then, we have come to think of robots as the mechanical men or "androids" of
modern science fiction.
In reality, technical manuscripts from as early as 300-400 b.c. reveal that human beings
have been trying to build automated machines or "automata" for centuries. The
development of modern robotics was precipitated by the advent of steam power and
electricity during the Industrial Revolution. A growing market for consumer products
drove engineers to devise ways of producing automatic machines to speed up
production, do tasks that humans could not do, and to replace humans in dangerous
situations. In 1893 Canadian professor George Moore produced "Steam Man," a
prototype for a humanoid robot made of steel and powered by a 0.5 horse-power steam
engine. Essentially a gas boiler housed in what looked like a mechanical suit of armor,
it could walk independently at a rate of 9 miles per hour (14.5 kph) and pull light loads.
In 1898 inventor Nikola Tesla (1856-1943) demonstrated a model for a remotely
operated submersible boat at Madison Square Garden. Tesla also wrote that he believed
it possible to someday build an intelligent, autonomous humanoid robot. Tesla's ideas
were not taken seriously until well into the twentieth century. In fact, the robotics
industry as we know it emerged only around the mid-twentieth century Once research
and development teams began to work in earnest, however, robots were integrated into
manufacturing and gradually adapted to the military, aeronautics and space, medical,
and entertainment industries. By the 1950s engineers were developing machines to
handle difficult or dangerous repetitive tasks for both defense and consumer
manufacturing-particularly the booming automotive industry, Because robots were

7
meant to replicate the pattern of movement that a human would make while lifting,
pulling, pressing, or pushing, designs were based upon the anatomical structure and
movement of a human arm. These were modified versions of the first patents for robotic
arms filed over a decade earlier. For example, patents for both the "Position Controlling
Apparatus," filed in 1938 by Willard V. Pollard, and a spray-painting apparatus by
Harold A. Roselund, filed in 1939, were modeled on human shoulder-arm-wrist
configuration and dexterity. Roselund's design patent was granted to the
DeVilbiss Company, which would later become a major supplier of robotic arms in the
United States. These early prototypes were not mass produced. However, once
electronic controllers came into use after the Second World War, similar but more
efficient designs were developed, including the first computer-controlled revolute arms
from Case Western Reserve and General Mills in 1950, and a complex, hydraulically
powered robotic arm by the British inventor Cyril W. Kenward, who filed his patent in
1954 and published it in 1957. By the eighteenth century, scientists and inventors had
created an impressive array of mechanical figures that looked and acted like humans
and other animals. Swiss watchmaker Pierre Jacquet-Droz (1721-1790), and his son
Henri-Louis (1752-1791), for example, designed and constructed animated dolls, called
automata, and mechanical birds to help sell watches, One doll was able to play the
piano, swaying in time with the music, and a young scribe who could write messages
of up to 40 characters. Among the first verifiable automation is a humanoid drawn by
Leonardo da Vinci (1452- 1519) in around 1495. Leonardo's notebooks, rediscovered
in the 1950s, contain detailed drawings of a mechanical knight in armor which was able
to sit up, wave its arms and move its head and jaw. "Planetbot," one of the first
commercial service robots in production, was a hydraulically powered robotic arm first
used by a division of General Motors in the production of radiators during the
mid1950s. Eventually, approximately eight Planetbots were sold. The company claimed
its robot could easily perform 25 Individual movements and could be reset to perform
a different set of operations in only minutes. However, this early model proved
unsuccessful because it was controlled by a cumbersome mechanical computer, and it
behaved erratically when the hydraulic fluid was cool. By the 1980s the Planet the area
to be cleaned by themselves. They operate independently, without reference targets, and
have builtin obstacle detection and avoidance protocols. Robots have cleaned more than

8
offices they have been used for larger, environmental hazard jobs, such as the cleanup
at the Chernobyl nuclear power plant in the Soviet Union, following a major radioactive
explosion there in 1986. Shakey's ability to learn from interaction of its sensors with
the environment also became the basis for the small, insect-like robots developed by
researchers such as Rodney Brooks of the Massachusetts Institute of Technology (MIT)
beginning in the 1980s. Brooks believed that the interaction of machine sensors with
their environment creates a learning situation for robots similar to that of a human
infant. According to this theory, it is not necessary to build complex computers with
thousands of stored facts to control the robot instead, simple motor and sensor elements
are combined to create robots that learn from experience. Brooks built robots modeled
on multi-legged insects such as "Genghis"-designed to negotiate the kind of rough
terrain that would be encountered on other planets. NASA planned to utilize "Hermes,"
a smaller version of Genghis, to explore the surface of Mars. Many researchers argue
that a humanoid robot is best for adapting to the human environment. When Rodney
Brooks and Andrea Stein co-founded the COG humanoid robot project at MIT, their
goal of producing on android that could behave like a human being and interact with
human beings was considered controversial. Soon, other similar projects were in
development. Vanderbilt University School of Engineering has been working on a
humanoid robot called "ISAC." ISAC, like COG, is learning to interact with human
people in a natural way. The projected use for ISAC is to perform as an in-home care-
giver. Other university-based robotics research in the United States, including projects
at the University of Southern California, the University of California-Berkeley, and
Georgia Tech are destined for use in medical, private and military security capacities,
or in environmental hazard situations, US, and European robotics research is tackling
issues such as mobility, robot-human interaction, vision systems, speech imitation and
recognition, and cognition. These topics are nothing new to Japanese robot designers.
Japan, which has almost twice as many robots as the United States, is developing
android Japan, which has almost twice as many robots as the United States, is
developing android type robots for wide-ranging uses to work outside of space stations
and spacecraft, to interact with its growing geriatric population in hospitals and at
home, and to act as civil servants in urban centers. By 1986 the Honda Motor Company
had completed "P-1, meant to "coexist and cooperate with human beings Honda

9
 expected that by the time their humanoid robot was perfected, such robots would be
used in everyday life to serve humans, not just in special operations. In the fall of 1997
Honda completed "P-3," which looks like a suited astronaut. It has a backpack with a
136-volt battery, wireless receiver, and processing unit. Commands are transmitted by
the wireless ethernet modem. According to Honda, P-3's vision sensing system is able
to identify stairs and other objects in a room, walk up stairs, and restabilize itself when
pushed off balance. At Waseda University, Japan, researchers have been working with
another android project. "Hadaly." Like MIT'S COG, Hadaly still looks much like a
Leggo project with cameras for eyes, but researchers in other labs are working hard at
simulating a human brain to someday operate inside of androids like Hadaly.
Meanwhile, Fumio Hara and a team of researchers at the Science University in Tokyo
have been working on an industrial "face robot" that can identify dozens of human
expressions and make facial gestures itself. Recently, the face robot has been fitted with
a simulated skin, hair, and eyes. Its designers believe that warker interaction with a
humanoid face that provides emotional as well as verbal response will help reduce
industrial accidents, Robotics is now one of humanity's greatest achievements and the
single greatest endeavour to create an artificial, sentient entity. The idea of a machine
that looks and behaves like a human being goes back at least 2,000 years. According to
Greek mythology, Hephaestus, the god of fire, constructed artificial women out of gold.
These women were able to walk, talk, and even to this

1.Based on physical configuration

• Based on Operation
• Cylindrical configuration
• Polar configuration
• Joint-arm configuration

10
2. Based on operation
2.1 Preprogrammed Robots
Pre- programmed robots operate i a controlled environment where they do simple and
monotonous tasks. An example of a preprogrammed robot would be a mechanical arm
on an automotive assembly line.

2.2 Humanoid Robots

A humanoid robot is a robot with its body shape built to resemble the human body. The
design may be for functional purposes, such as interacting with human tools and
environments, for experimental purposes, such as the study of bipedal locomotion.
Some humanoid robots also have heads designed to replicate human facial features such
as eyes and mouths.

11
2.3 Teleoperated Robots
Tele-operated robots are remotely controlled robots, they might have some sort of
intelligence, but normally they take their command from a human operator and execute
exactly as instructed. Right now, tele-operated robots are mostly used in medical
surgeries and military operations.

2.4 Augmenting Robots

Augmenting robots generally enhance capabilities that a person has or replace the
abilities that a person has lost. The most common example of an augmenting medical
device would be a prosthetic limp. or bionic arm.

12
2.5Autonomous Robots
An autonomous robot is a robot that is designed and engineered to deal with its
environment on its own, and work for extended periods of time without human
intervention. A truly autonomous robot is one that can perceive its environment, make
decisions based on what it perceives and/or has been programmed to recognize
conditions and then actuate a movement or manipulation within that environment.

I. THE SCARA
The SCARA acronym stands for Selective Compliance Assembly Robot Arm or
Selective Compliance Articulated Robot Arm.
The robot was developed under the guidance of Hiroshi Makino, a professor at the
University of Yamanashi. The arms of SCARA are flexible in the XY-axes and rigid in
the Z- axis that makes it to familiarize to holes in the XY-axes.
SCARA Characteristics, Advantages & Limitations Scara is a type of industrial robot.
The SCARA robot is most commonly used for pick-and-place or assembly operations
where high speed and high accuracy is required. Generally a SCARA robot can operate
at higher speed and with optional cleanroom specification,
Industrial robots are defined as multi-functional manipulators designed to move parts
through various programmed motions. As such, robots provides consistent reliable
performance, repetitive accuracy and are able to handle heavy work loads and perform
in harsh environments. Additionally, robots can be quickly reprogrammed to reflect
changes in production needs and cycles.
13
(1) Characteristics of SCARA Robots
Some SCARA characteristics like high reliability, high accuracy and speed, minimum
maintenance, ease of use and extremely compact design make this kind of robot really
suitable to work, the composed system guarantees high performances in term of
productivity and, at the same time, high flexibility in assembly lines and production
systems. Also it does not require any retooling cost for product changeovers: product
changes can be made in a matter of seconds without any trouble.

(2) Advantages of SCARA robots

SCARA Robots currently available can achieve tolerances lower than 10 microns. This
tolerances can be compared to 20 microns for a six-axis robot. The compact layout of
SCARA Robots also makes them more easily re-located .

(3)Limitations of SCARA robots

SCARA robots because of their configuration, are typically only capable of carrying a
lighter payload. Typically, they carry up to 2 kg nominal (10 kg maximum).
The envelope of a SCARA robot is typically circular, which doesn't suit all applications
and the robot has limited dexterity and flexibility compared to the full 3D capability of
other types of robots (e.g. six-axis robots).

14
 Figure 1. SCARA -Selective Compliance Assembly Robot Arms

II. CONFIGURATION OF ROBOTS

i. THE CARTESIAN CONFIGURATION

Cartesian coordinate geometry is an excellent method for mapping three-dimensional
space in a simple, easy-to-understand numerical system in the Cartesian system for
three-dimensional space, there are three coordinate axes that are perpendicular to each
other (orthogonal axes) and meet at the origin. The three axes are generally referred to
as the x-axis, y-axis, and z-axis. Any point in three-dimensional space is represented by
three numbers as (x, y, z). X represents the distance of the paint from the origin along
the x-axis, y is the distance from the origin along the y-axis, and z is the distance from
the origin along the z-axis.
Mechatronic robots that use linear axes for movement are called Cartesian robots, linoor
robots, or gantry robots. Gantry robots look similar to gantry cranes and operate
similarly But gantry robots are not limited to lifting and moving functions. They can
have custom functionality as per the requirement. Cartesian robots have an overhead
structure that controls the motion in the horizontal plane and a robotic arm that actuates
motion vertically. They can be designed to move in x-y axes or x-y-z axes. The robotic
arm is placed on the scaffolding and can be moved in the horizontal plane. The robotic

15
arm has an effector or machine tool attached to the end of the arm depending on the
function where it is used.

a. Characteristics of Cartesian Robots

Though Cartesian robots and gantry robots are used interchangeably, gantry robots
generally have two x-axes while Cartesian robots will have only one each of the
two/three axes (according to the configuration).
Cartesian robots only move through linear motion, generally through servomotor
drives, The linear actuators used can be in various forms according to the specific
application. The drive system can be belt-driven, cable driven, screw driven, pneumatic
driven, rack and-pinion-driven, or linear-motor-driven, Some manufacturers provide
completely pre- made Cartesian robots that can be implemented without any
modifications. Other manufacturers offer different components as modules, allowing
the user to implement a combination of these modules according to their specific use
close.
The robotic arms themselves can be equipped with "vision" or can be "blind" in
operations. They can be attached to light sensors or cameras to identify the objects
before executing an action. For example, Cartesian robots can be used in laboratories
to pick and move samples, Computer-aided vision can be used to recognize the test
tube, pipettes, or slides and the arm can grab the object according to the position data
conveyed from the camera.

b. Advantages of Cartesian Robots

The advantage of Cartesian robots over other robotic systems, like six-axis robots, is
that they are very easy to program. A single motion controller can handle the movement
logic for a Cartesian robot. The robots have only linear motion, enabling ease of control.
There is no need for a complex array of PLCs and microchips for the motion control of
Cartesian robots. The same attribute helps to make programming the movement of the
robot easier.
Cartesian robots have a higher payload carrying capacity compared to their equivalent
six-axis robots. This, combined with the lower cost and ease of programming for linear
robots, makes them suitable for a large variety of industrial applications. Gantry robots,
which are essentially Cartesian robots with supporting scaffolding, can carry even
higher payloads. The range of movement for linear robots can be extended by adding
16
compatible modules to the existing mechanism. This modularity in Cartesian robots
makes them much more versatile and has a longer life in an industrial setting Cartesian
robots also exhibit a high level of accuracy and precision compared to their rotary
counterparts. This is due to the fact that they only have linear motion and no need to
accommodate rotary motion. Cartesian robots can have tolerances in the range of
micrometers (um), whereas six-axis robots generally have tolerances in the range of
millimeters (mm).

c. Applications for Cartesian Robots

The versatility, lower cost, and ease of programming make Cartesian robots viable for
many applications in industrial settings. Let us have a look at some of them.
• Pick and place: The robotic arm is fitted with some variation of vision device to
identify different components from a carousel or conveyor belt. The arm can pick these
objects and sort them into different bins. Picking and soring can be done by a single
robotic arm:
• Process-to-process transfer, in a production line there will be instances where goods
in the process need to be transferred from one location to another. It can be done using
dual-drive linear robots. They can be used with vision systems or time-synchronization
depending on the rest of the process. Assembling system: When the same steps have
to be repeated over and over to assemble the parts of a product, linear robots can be
used to automate the tasks.
• Application of adhesives and sealants: Many production processes involve the
application of adhesives or sealants between parts. It is used in large automobile
manufacturing to small electronic gadget production. Adhesives and sealants are to be
applied in very precise quantities and the correct location. The robotic arm of the linear
robot can be connected with a high-precision fluid dispenser and adhesives and sealants
can be applied with high accuracy. Palletizing and depalletizing: Packing uses pallets
to transport goods with ease. Cartesian robots can be used to automate both placing
products on pallets and taking them from pallets. CNC machine tooling: Computer
numeric controls-based machines are used to create products according to designs made
in engineering design software. CNC machines widely use linear robots with different
tools attached to the robotic arms.

17
 • Precision spot welding: Specialized welding is required in certain manufacturing
processes. Linear robots with welding arms can achieve accurate welds in precise
locations on the work surface. The high level of tolerance in the micrometers (um)
range is helpful in such applications.

ii. THE PARALLEL CONFIGURATION

Parallel robots are also known as parallel manipulators or generalized Stewart
platforms. A parallel robot is a mechanical system that uses several computercontrolled
serial chains to support a single platform, or end-effector.
Furthermore, a parallel robot can be formed from six linear actuators that maintain a
movable base for devices such as flight simulators. These robots prevent redundant
movements and to carry out this mechanism, their chain is designed to be short, simple.

Parallel Configuration are known as:

• High speed and high precision milling machines
• Micro manipulators mounted on the end effector of larger but slower serial
manipulators.

18
 Parallel Robots

i. Applications Of Parallel Robots

Parallel robots are used in various industrial applications such as
• Flight simulators
• Automobile simulators
• In work processes
• Photonics / optical fiber alignment
They are used in limit in the workspaces. To perform a desired manipulation, it would
be very difficult and can lead to multiple solutions. Two examples of popular parallel
robots are the Stewart platform and the Delta robot. ii. Advantages Of Parallel
Robots
• Very high speed
• Contact lens shaped working envelope
• Excels in high speed, lightweight pick and place applications (candy packaging) iii.
Disadvantages Of Parallel Robots
It requires dedicated robot controller in addition to line master controller like PLC/PCS

iii. THE CYLINDRICAL CONFIGURATION

A cylindrical coordinate system is a three-dimensional coordinate system that specifies
point positions by the distance from a chosen reference axis, the direction from the axis
relative to a chosen reference direction, and the distance from a chosen reference plane
perpendicular to the axis. The latter distance is given as a positive or negative number

19
depending on which side of the reference plane faces the point. The origin of the system
is the point where all three coordinates can be given as zero. This is the intersection
between the reference plane and the axis.
The axis is variously called the cylindrical or longitudinal axis, to differentiate it from
the polar axis, which is the ray that lies in the reference plane, starting at the origin and
pointing in the reference direction.
The distance from the axis may be called the radial distance or radius, while the angular
coordinate is sometimes referred to as the angular position or as the azimuth. The radius
and the azimuth are together called the polar coordinates, as they correspond to a two-
dimensional polar coordinate system in the plane through the point, parallel to the
reference plane. The third coordinate may be called the height or altitude (if the
reference plane is considered horizontal), longitudinal position or axial position
Cylindrical coordinates are useful in connection with objects and phenomena that have
some rotational symmetry about the longitudinal axis, such as water flow in a straight
pipe with round cross-section, heat distribution in a metal cylinder, electromagnetic
fields produced by an electric current in a long, straight wire, and so on. It is sometimes
called "cylindrical polar coordinate" and "polar cylindrical coordinate" depending on
which side of the reference plane faces the point. The origin of the system is the point
where all three coordinates can be given as zero. This is the intersection between the
reference plane and the axis. The axis is variously called the cylindrical or longitudinal
axis, to differentiate it from the polar axis, which is the roy that lies in the reference
plane, starting at the origin and pointing in the reference direction.
The distance from the axis may be called the radial distance or radius, while the angular
coordinate is sometimes referred to as the angular position or as the azimuth. The radius
and the azimuth are together called the polar coordinates, as they correspond to a two-
dimensional polar coordinate system in the plane through the point, parallel to the
reference plane. The third coordinate may be called the height or altitude (if the
reference plane is considered horizontal), longitudinal position ,or axial position.

20
 Figure 2. Cylindrical work format

Cylindrical coordinates are useful in connection with objects and phenomena that have
some rotational symmetry about the longitudinal axis, such as water flow in a straight
pipe with round cross-section, heat distribution in a metal cylinder, electromagnetic
fields produced by an electric current in a long straight wire, and so on.
It is sometimes called "cylindrical polar coordinate and "polar cylindrical coordinate
and is sometimes used to specify the position of stars in a galaxy ("galactocentric
cylindrical polar coordinate") The base of cylindrical robots has a rotary joint, and the
links are connected by prismatic joints. The robots have a cylindrical-shaped work
envelop, which is achieved with rotating shalt and an extendable arm that moves in a
vertical and sliding motion. Because of their compact design, cylindrical robots are
frequently used in small spaces for simple assembly, machine tending, or coating
applications.

Cylindrical robot

21
iv. THE SPHERICAL CONFIGURATION
In mathematics, a spherical coordinate system is a coordinate system for three-
dimensional space where the position of a point is specified by three numbers: the radial
distance of that point from a fixed origin, its polar angle measured from a fixed zenith
direction, and the azimuth angle of its orthogonal projection on a reference plane that
passes through the origin and is orthogonal to the zenith, measured from a fixed
reference direction on that plane.
The radial distance is also called the radius or radial coordinate. The polar angle may
be called colatitude, zenith angle, normal angle, or inclination angle.

Spherical Robot

5.THE POLAR /SPHERICAL CONFIGURATION

Polar Robots, or spherical robots, have an arm with two rotary joints and one linear
joint connected to a base with a twisting joint. The axes of the robot work together to
form a polar coordinate, which allows the robot to have a spherical work envelope,
Polar Robots are credited as one of the first types of industrial robots to ever be
developed. Polar robots are commonly used for die casting, injection molding, welding,
and material handling.
In other words, spherical robot is a robot with two rotary joints and one prismatic joint;
in other words, two rotary axes and one linear axis. Spherical robots have an arm which
forms a spherical coordinate system.

22
5.1 Important Terms
Positional Commands: A robot can perform the required position using a GUI or toxt
based commands in which the essential X-Y-Z position may be specified and edited.
Teach Pendant: Using a teach pendant method, we can teach the positions to a robot.
Teach pendent is a handheld control and programming unit that contain the capability
to manually send the robot to a desired position. A teach pendant can be disconnected
after the completion of programming. But, the robot runs the program, which was fixed
in controller. Lead-by-the-nose; lead-by-the-nose is a technique which will be included
by many robot manufacturers. In this method, one user holds the robot's manipulator,
while another person enters a command that helps to de-energize the robot which will
make it to go into limp. Then, user can move the robot to the required position (by hand)
while the software records these positions into memory. Several robot manufacturers
use this technique for performing paint spraying.

III. ARCHITECTURE OF ROBOTS

a. INTRODUCTION OF ARCHITECTURE OF ROBOTS

A robot is made up of several links connected serially by joints. The robot's degree of
freedom (DOF) depends on the number of links and joints, their types, and the
kinematic chain of the robot b. Links and Joints
The individual bodies that make up a robot are called links. Here, unless otherwise
stated, all links are assumed to be rigid, ie, the distance between any two points within
the body does not change while it is moving. A rigid body in the three dimensional
Cartesian space has six DOF. This implies that the position of the body can be described
by three translational, and the orientation by three rotational coordinates. For
convenience, certain non-rigid bodies, such as chains, cables, or belts, which when
serve the same function as the rigid bodies, may be considered as links. From the
kinamatic point of view, two or more members when connected together without any
relative motion between them is considered as a single link. For example, an assembly
of two gears connected by a common shaft is treated as one link. Links of a robot are
coupled by kinematic pairs or Joints. A 'joint' couples two links and provides physical

23
constraints on the relative motion between the links. It is not a physical entity but just
a concept that allows one to specity how one link moves with respect to another one.

Figure 3. Links And Joints

For example, a hinge joint of a door allows it to move relative to the fixed wall about
an axis. No other motion is possible. Type of relative motion permitted by a joint is
governed by the form of the contact surface between the members, which can be a
surface, a line, or a point. Accordingly, they are termed as either lower or higher pair
joint. If two mating links are in surface contact, the joint is referred to as a lower pair
joint. On the contrary, if the links are in line or point contact, the joint is called higher
pair joint. As per the definition, the hinge joint of the door is a lower pair joint, whereas
a ball rolling on a plane makes a higher pair joint.

c. What's a robot manipulator ?

A robot manipulator is an electronically controlled mechanism, consisting of multiple
segments, that performs tasks by interacting with its environment. They are also
commonly referred to as robotic arms. Robot manipulators are extensively used in the
industrial manufacturing sector and also have many other specialized applications (for
example, the Canadarm was used on space shuttles to manipulate payloads). The study
of robot manipulators involves dealing with the positions and orientations of the several
segments that make up the manipulators

i. Manipulators & End Effector

A manipulator in robotics is a tool used to move materials without the user making any
direct physical touch. Originally, the applications were employed inaccessibly or to

24
handle radioactive or biohazardous objects with robotic arms. In more recent advances,
they have been used in a variety of applications, including robotic surgery, welding
automation, and space travel
Manipulators are composed of an assembly of links and joints. Links are defined as the
rigid sections that make up the mechanism and joints are defined as the connection
between two links. The device attached to the manipulator which interacts with its
environment to perform tasks is called the end-effector.

Robot Manipulator

ii. Classification based on Motion Characteristics

• Planar Manipulator:
A manipulator is called a planar manipulator if all the moving links move in planes
parallel to one another.
• Spherical Manipulator:
A manipulator is called a spherical manipulator if all the links perform spherical
motions about a common stationary point.
• Spatial Manipulator:
A manipulator is called a spatial manipulator if at least one of the links of the
mechanism possesses a general spatial motion

iii. Classification based on Kinematic Structure

• Parallel manipulator:
A manipulator is called an open-loop manipulator if its links form an open-loop chain.
A manipulator is called a parallel manipulator if it is made up of a closed-loop-chain-
• Hybrid manipulator:
A manipulator is called a hybrid manipulator if it consists of open loop and closed loop
chains

25
iv. What is DOF?
The term degrees of freedom is widely used to define the motion capabilities of robots,
including androids (humanoid robots). In this context, the term generally refers to the
number of joints or axes of motion on the robot
The number of degrees of freedom of a mechanism are defined as the number of
independent variables that are required to completely identify its configuration in space.
where is the number of links (this includes the ground link), & is the number of joints,
is the number of degrees of freedom of the "joint and X is 3 for planar mechanisms and
6 for spatial mechanisms.

26
1. TOOLS AND TECHNOLOGY USED
• ZAPEST
It is a Software Automation solution for organizations that uses software for operations
or development, who is looking to automate their back-office operations or software
testing processes and to develop a seamless and revolving automation framework.

• Eggplant
Is an award-winning robotics solutions provider and has been named a leader by all the
top analysts, including Gartner and Forrester.

• JAMS
It is an enterprise IT automation solution that runs, monitors, and manages jobs and
workflows to support critical business processes. Built as the only job scheduling
solution engineered on the NET framework.

• Blue Prism
This robotic tool helps business operations to be agile and cost-effective by automating,
manual, repetitive office processes.

• Breadboard
The boards allow you to build a temporary circuit in no time. Especially handy for
testing new circuits.

• Elastic electric cable

An elastic cable which can be used especially in robotics, yes this is an innovative
technology. No matter how well would have designed a robot ,

• Mimicking synapses in silicon

Perhaps only in science-fiction movies we see in action a robot to think like a human,
as nowadays such a robot does not exist. So far researchers did not get too far in this
aspect, until now.

• Bio Tac Tactile Sensor

The human hand is an amazing tool used in almost any activity. Maybe it was not a
complete tool if the hand could not feel what it touches.

27
 2. SOFTWARE AND TOOLS USED
I. Offline Programming

The category of software that is most dear to our hearts here at RoboDK, offline
programming software provides a way for you to program your industrial robot without
to be physically connected to the robot at the time.

II. Simulator
Robot simulators come in many forms. Some only allow for simple 2D simulation of
specific aspects of robotics whilst others include 3D simulation with complex physics
engines and realistic environments. If you wanted to, you could spend a lot of time
testing all the many different simulation packages available.

III. Middleware
One of the most misunderstood types of robot software is middleware — the most
popular being ROS (Robot Operating System). Robot middleware provides a
framework for running and managing complex robotic systems from a single unified
interface.

IV. Real -Time Path Planning

Path planning software is used in many areas of robotics. Basic path planners, like our
PRM feature, are simply used to speed up the programming phase for industrial
robotics.

V. UAV(Drone) Control
A growing type of robotic software is drone control. This refers to any software which
is used to program and coordinate unmanned aerial vehicles (UAVs/drones).
VI. Artificial Intelligence for Robots
Artificial intelligence (AI) has been used with robotics for many years — almost as
long as robotics have been around. However, there has recently been a rising number
of software solutions specifically for using AI with robots in particular application
areas.

28
3. HIGHLIGHTS OF TRAINING EXPOSURE
a. Robotics Can Improve Proficiency and Enthusiasm for STEAM
Robotics activities and programs are a great way to get kids excited and familiarized
with STEAM. One of the best things about robotics is that they are exciting for students.

b. Students Will Engage With Other STEAM Activities

Robotics provides your students with exposure to other essential STEAM experiences.
Many robotics require some basic coding knowledge and computer programming skills,
so students can utilize these skills to have robots complete specific tasks.

c. Robotics Help Build Teamwork and Improve Communication

Skills
Often, robotics projects can use the help of multiple students, depending on if students
are participating in a robotics competition or to help accomplish more in-depth robotic
projects. Robotics projects provide a great reason to encourage students to work with
one another.

d. Robotics Can Teach Critical Learning Skills

As students are working with one another on robotic projects, they will likely discuss
and share specific ideas that they might need to test out. Students can come up with
problems in their everyday life that they think robots can fix or consider things that
robots could automate. Allowing students to develop theories that can be tested in
robotics projects will strengthen their ability to form hypotheses.

29
 CHAPTER Ⅲ

PROBLEM
IDENTIFICATION/CASE
STUDY

30
The three scenarios chosen for B-Learn II exhibit typical characteristics of robotic
applications. Especially in compliant motion, heavy real-time constraints are posed
upon the performance elements, and stability issues are becoming very important.

I. Compliant motion
Compliant motion ([95])refers to tasks in which a robot manipulates an ob ject while
being constrained by contacts with other ob jects or the environment in general. The
motion freedom of the manipulated ob ject is limited and contact forces are generated.
The robot has to deal with the constraints and the occuring forces and torques, too.
There are several ways to cope with problems in compliant motion that are caused by
uncertainty. The approach is to reduce these uncertainties by improving the accuracy of
the environment and of the robot.

Machining and Monitoring

CNC machines play an important role in Flexible Manufacturing Systems: they
produce the parts to be assembled. Solving the problem of making products close to the
anticipation of defects will considerably contribute to improve the system's overall
productivity and product quality. Anticipating accidents, wherever and whenever
possible, is a convenient method for preventing intervention. Faults can occur randomly
or as a consequence of internal structural degradation. Little hope exists for the case.
However, the second one opens the held for prediction of deviation of quality,
enhancing the commonly used methodologies. Prediction of faults can become .

Transportation and Navigation

In addition to actual manufacturing tasks occuring in a factory, transportation of both
raw material and fabricated workpieces is an important issue. Driver-less transport
systems are designed to handle these tasks. However, to achieve exibility and eciency
within the typical constraints of a manufacturing process, simple transport systems are
not sucient, and autonomous mobile robots are to be taken into consideration.

31
 CHAPTER Ⅳ

RECOMMENDATIONS

32
Achieving safe Human-Robot Interaction is one of the grand challenges of robotics. It
is necessary to design systems that do not harm human beings during operation.
However, due to the lack of real world applications for pHRI, there was very little
research on how to assess, rate, and improve the safety of robots for tasks with direct
human contact. Mostly, the term safe was used to label dependable robotic components,
for which failure rate has to be minimized and reliability to be maximized. In this sense,
the monograph gives the first large scale investigation of possible injuries a human
would suffer from collisions with robots and elaborates the significant factors in this
complex problem. For this standard equipment from automobile crash-testing was used,
which has been applied over decades to rate the injury of humans in car crashes.
However, the analysis is not only based on these well established methods and their
applicability to robotics, but they were also extended to the needs in robotics. An
analysis, grounded on a solid biomechanical basis, seems to be the only way to
investigate the safety of robots, since it is not only a question of robot design alone, but
to a major extent related to the physical effect a robot has on the human. Furthermore,
it is not sufficient to rate the safety of a robot by simple dependability analysis, but the
level of measurable physical harm has to be of primary concern. A major contribution
of the monograph is that it gives general insights into the resulting impact dynamics for
rigid blunt robot-human impacts. Furthermore, various injury measures for different
human body parts are evaluated theoretically and experimentally with different robots
of varying size. Apart from blunt collisions, also soft-tissue injuries caused by stabbing
and cutting were investigated for the first time in robotics. For this purpose pig
experiments were carried out to obtain quantitative measurements for injury assessment
during sharp contact. Such investigations are necessary, since future robots will either
be equipped with, or grasp sharp tools and objects in real-world applications. Generally,
this part of the monograph gives fundamental insight into the influence mechanical
designparameters as inertia, maximum velocity, or surface curvature have on the
intrinsic safety properties of the robot.

33
 REFRENECES

1. Haddadin, S., Parusel, S., Vogel, J., Belder, R., Rokahr, T., Albu-Schäffer,
A., Hirzinger, G.: Holistic design and analysis for the human-friendly
robotic co-worker. In: IEEE/RSJ Int. Conf. on Intelligent Robots and
Systems (IROS 2010), Taipeh, Taiwan, pp. 4735–4742 (2010).
2. Parusel, S.: Playing billard with an anthropomorphic robot arm. Master’s
thesis, FH Kempten & German Aerospace Center (DLR) (2009)
3. Vogel, J., Haddadin, S., Simeral, J.D., Stavisky, S.D., Bacher, D., Hochberg,
L.R., Donoghue, J.P., van der Smagt, P.: Continuous control of the DLR
Lightweight Robot III by a human with tetraplegia using the BrainGate2
neural interface system. In: International Symposium on Experimental
Robotics (ISER 2010), Dehli, India (2010)
4. C.W. Anderson. Strategy learning with multilayer connectionist
representation. Technical Report.
5. P. H. Anderson, S. J. Torvinen, and L. Vasek. A concept for maintaining
quality in exitable pro-duction. Computers in Industry, 17, 1991.
6. M. Anthony and N.L. Biggs. Computational Learning Theory: An
introduction. Cambridge University Press, 1992.
7. C. Archibald and E. Petriu. Computational paradigm for creating and
executing sensorbased robot skills. In Proceedings of the 24th International
Symposium on Industrial Robots (ISIR `93), 1993.

34