EE1513-PRINCIPLES OF ROBOTICS

Department of Electrical and Electronics Engineering

VIth Semester

Department of Electrical and Electronics Engineering

St. Joseph’s College of Engineering
Chennai

EE1513-PRINCIPLES OF ROBOTICS 1
 SYLLABUS
UNIT I BASIC CONCEPTS
Brief history–Types of Robot – Robot Technology–Robot classifications and specifications–Design and
control issues– Various manipulators – Sensors – work cell – Programming languages.
UNIT II DIRECT AND INVERSE KINEMATICS
Mathematical representation of Robots – Position and orientation – Homogeneous transformation–
Various joints– Representation using the Denavit Hattenberg parameters –Degrees of freedom–Direct
kinematics–Inverse kinematics– SCARA robots– Solvability – Solution methods–Closed form solution.
UNIT III MANIPULATOR DIFFERENTIAL MOTION AND STATICS
Linear and angular velocities–Manipulator Jacobian–Prismatic and rotary joints– Inverse –Wrist and arm
singularity – Static analysis – Force and moment Balance.
UNIT IV PATH PLANNING
Definition–Joint space technique–Use of p–degree polynomial–Cubic polynomial– Cartesian space
technique – Parametric descriptions – Straight line and circular paths – Position and orientation planning
UNIT V DYNAMICS AND CONTROL
Lagrangian mechanics – 2DOF Manipulator–Lagrange Euler formulation–Dynamic model –Manipulator
control problem – Linear control schemes –PID control scheme– Force control of robotic manipulator.

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• Text Books:
1. R. K. Mittal and I. J. Nagrath, ‘Robotics and Control’, Tata McGraw Hill, New
Delhi, 4th Reprint, 2017.
2. John J. Craig, ‘Introduction to Robotics Mechanics and Control’, Third
edition, Pearson Education, 2009.
3. M. P. Groover, M. Weiss, R.N. Nagel and N. G. Odrej, ‘Industrial Robotics’,
McGraw – Hill Singapore, 1996.

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 What Is a Robot?
• The machine that can replace human being as regard to physical
work and decision making are categorized as robots and their study
is called Robotics.
• robots are designed and meant to be controlled by a computer or
similar device.
• The motions of the robot are controlled through a controller under
the supervision of the computer, which is running some type of
program.
• Therefore, if the program is changed, the actions of the robot will
change accordingly.
• The intention is to have a device that can perform many different
tasks; consequently, it is very flexible in what it can do without
having to be redesigned. Therefore, the robot is designed to be able
to perform many tasks based on the running program(s) simply by
changing the program.

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 What Is Robotics?
• Robotics is the art, knowledge base, and know-how of
designing, applying, and using robots in human endeavors.
Robotic systems consist of not just robots, but also other
devices and systems that are used together with the robots.
• Robotics is an interdisciplinary subject that benefits from
mechanical engineering, electrical and electronic engineering,
computer science, cognitive sciences, biology, and many other
disciplines.

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 Components of Robots/Robot Anatomy
• An Industrial robot that least looks like a human

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 Laws of Robotics
• A robot should not injure a human being or, through inaction,
allow a human to be harmed
• A robot must obey orders given by humans except when that
conflicts with the first law
• A robot must protect its own existence unless that conflicts
with first or second law

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 Difference between Robot and Manipulator/crane
• Fundamental difference between the two is that the crane
and the manipulator are controlled by a human who operates
and controls the actuators, whereas the robot manipulator is
controlled by a computer or microprocessor that runs a
program.
• The motions of the robot are controlled through a controller
under the supervision of the computer, which is running some
type of program.
• The simple manipulator (or the crane) cannot do this without
an operator running it all the time

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(a) Dalmec manipulator (b) a KUKA robot

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 Motivation
• To cope with increasing demands of a dynamic and
competitive market, modern manufacturing methods should
satisfy the following requirements:
– Reduced production cost
– Increased productivity
– Improved product quality

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 History of Robotics
• 1922 Czech author Karel Capek wrote a story called R.U.R.
(Rossum’s Universal Robots) and introduced the word rabota
(worker).
• 1932 Isaac Asimov –Russian science fiction writer, coined the word
robotics in his story ‘Runaround’.
• 1939 –A jointed mechanical arm was developed for use in spray
painting
• 1946 George Devol developed the magnetic controller, a playback
device.
• 1952 The first numerically controlled machine was built at MIT.
• 1954: The first programmable robot is designed by George
Devol, who coins the term Universal Automation. He later shortens
this to Unimation, which becomes the name of the first robot
company (1962). UNIMATE originally automated the manufacture
of TV picture tubes
• 1955 Jacques Denavit and Richard Hartenberg developed kinematic
notation for lower-pair mechanisms based on matrices.

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• 1961 US patent 2,988,237 was issued to Devol for
“Programmed Article Transfer,” a basis for Unimate robots.
(The Unimate was the first industrial robot ever built. It was a
hydraulic manipulator arm that could perform repetitive
tasks. It was used by car makers to automate metalworking
and welding processes.)
• 1962 Joseph Engelberger started the first robotic company
‘Unimation’. The first industrial robots appeared, and GM
installed its first robot from Unimation.
• 1967 Unimation introduced the Mark II robot. The first robot
was imported to Japan for paints praying applications.
• 1968 An intelligent robot called Shakey was built at the
Stanford Research Institute (SRI).
• 1972 IBM worked on a rectangular coordinate robot for
internal use. It eventually developed the IBM 7565 for sale.
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• 1967 :General Electric Corporation made a 4-legged vehicle
• 1969 SAM was built by NASA, USA.
• 1970 Victor Scheinman demonstrated a manipulator known as Stanford arm.
Lunokhod I was built and sent to the moon by USSR.
• 1973 Cincinnati Milacron introduced the T3 model robot, which became very
popular in industry.
• 1978 The Puma (Programmable Universal Machine for Assembly) robot is
developed by Unimation with a General Motors design support.

PUMA 560 Manipulator

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• 1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
• 1982 GM and FANUC of Japan signed an agreement to build GM
Fanuc robots.
• 1983 Robotics became a very popular subject, both in industry as
well as academia. Many programs in the nation started teaching
robotic courses.
• 1983 :“Odetics” introduced a unique experimental six-legged device
• 1986: ASV (Adaptive suspension vehicle) was developed at Ohio
state university, USA.
• 1997: Pathfinder and Sojourner was sent to the Mars by the NASA,
USA.

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• 2000 The first ASIMO humanoid robot was introduced by
Honda.
• 2001 The FDA approved the use of the da Vinci surgical robot
in the United States.
• 2004: Surface of mars was explored by “Spirit” and
“Opportunity”
• 2008 Universal Robots made the first collaborative robot
(cobot) available to the market, followed by Rethink in 2011.
• 2010–present Many new robots, autonomous vehicles,
drones, sensors, and associated devices have appeared and
have become common.
• 2012: “Curiosity” was sent to the mars by NASA,USA
• 2015: ‘Sophia” humanoid robot was built by Hanson Robotics,
Hongkong.

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1995-present:
Emerging applications in small robotics and
mobile robots drive a second growth of start-up
companies and research

NASA’s Mars Exploration Rovers

Adept’s SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

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 Robotic Companies
• OMRON Adept
• ABB
• FANUC
• KUKA
• Epson
• Motoman
• DENSO
• Fuji
• Yaskawa
• Kawasaki
• Universal Robots
• MAKO Surgical Corp.,
• Intuitive
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 Association of robotics

There are many robotics association in world

• JIRA (Japan industrial robotics association)

• WRO (world robotic Olympiad)

• RIA (robotics institute of America)

• IFR (international federation of robotics)

• CRIA (China Robot Industry Alliance )
• IEEE robot & automation society
 Progressive Advancement in Robots
Growth of robot can be grouped in to robot generations, based on the characteristic
breakthrough in robot’s capabilities.
1. First Generation:
– Repeating, non-servo, pick and place or point to point kind
– Fully developed and 80% robots in use in industry
– Predicted that these will continue to be in use for long time
2. Second Generation
– Sensing devices are added which enables the robot to alter its movement in response to the
sensor feedback.
– Exhibit path control capabilities
3. Third Generation
– Robots have human like intelligence
– High speed processing of information
– Acquired artificial intelligence, self learning and conclusion drawing capabilities by past
experiences
– Online computation and control, artificial vision
– Active torque/force interaction with the environment
– Technology is still fancy and has a long way to go
4. Fourth Generation
– Futuristic robots, may be a true android, biological robot or a super humanoid capable of
producing its own clones.

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 Classification of Robots
• Fixed-sequence robot: A device that performs the successive
stages of a task according to a predetermined, unchanging
method, that is hard to modify.

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• Playback robot: A human operator performs a task manually
by leading the robot, which records the motions for later
playback. The robot repeats the same motions according to
the recorded information.

playback robot with point to point control

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• Numerical-control robot: The operator supplies the robot with
a movement program rather than teaching it the task
manually. This type of robot moves through a sequence of
actions, which it receives in the form of numerical data.

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• Intelligent robot: A robot with the means to understand its
environment and the ability to successfully complete a task
despite changes in the surrounding conditions under which it
is to be performed.

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 Robot Components/Robot Anatomy
A robot, as a system, consists of the following elements, which
are integrated together to form a whole.
The base, arm, wrist and end effector forming the mechanical
structure of a manipulator is shown

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Links:
• The mechanical structure of a robotic manipulator is a mechanism, whose
members are rigid links or bars.
• A rigid link that can be connected with other links are referred to as a
binary link.
• Two links are connected together by a joint. By putting a pin through holes
B and C of links 1 &2, an open kinematic chain is formed. The joint formed
is called pin joint/revolute or rotary joint.

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 Robot Joints
Two basic types of joints are,

Prismatic Joint: Linear, No rotation involved.

(Hydraulic or pneumatic cylinder)
The two links are joined such that these can slide w.r.t each other.

Revolute Joint: Rotary, (electrically driven with stepper motor,servo motor)

The two links are jointed by a pin(pivot) about the axis of which the links
can rotate w.r.t. each other.

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Other types of joint are,
– Planar : One surface sliding over another surface
– Cylindrical: one link rotate about the other at 90 degrees
– Spherical :one link can move w.r.t to the other in three dimensions
– Twist joint: Two links remain aligned along a straight line, but one turns
about the other around the link axis.

Joint Types and their symbol

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• At a joint, links are connected such that, they can be made to
move relative to each other by the actuators.
• kinematic chain - an assemble of links connected via joints.
• Kinematic chain formed by joining two links is extended by
joining more links.
• To form a manipulator, one end of the chain is connected to
one fixed(base or ground) with a joint. Such a manipulator is
an open kinematic chain. The end effecter is connected to the
free end of the last link.
• closed chain - a kinematic chain with every link connected
through joints to two adjacent links.
• Kinematic chain of the manipulator is characterized by
degrees of freedom
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 Robot Components/Robot Anatomy
A robot, as a system, consists of the following elements, which
are integrated together to form a whole.
Manipulator or rover:
• This is the main body of the robot, which consists of the links,
joints, and other structural elements of the robot.
• Without other elements, the manipulator alone is not a robot.
• Fig. shows the manipulator part of an industrial 6-axis robot.

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Actuators:
• Actuators are the “muscles” of the manipulators.
• Each joint usually has an actuator (a motor for e. g.)
connected to it.
• The controller sends signals to the actuators, which in turn
move the robot’s joints and links.
• Common types are servomotors, stepper motors, pneumatic
actuators, and hydraulic actuators.
• Actuators are under the control of the controller.

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 Actuators

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

DC Motor

Pneumatic Motor Muscle Wire Servo Motor

End effector.:
• This is the part that is connected to the last joint (hand) of a
manipulator and that generally handles objects, makes connection
to other machines, or performs required tasks.
• Robot manufacturers generally do not design or sell end effectors.
In most cases, all they supply is a simple gripper.
• Generally, the hand of a robot has provisions for attaching specialty
end effectors that are specifically designed for a purpose.
• It is the job of a company’s engineers or outside consultants to
select, or design and install, the end effector on the robot and to
make it work for the given situation.
• Welding torches, paint spray guns, glue-laying devices, and parts
handlers are a few examples.
• In most cases, either the action of the end effector is controlled by
the robot’s controller (through the signals it sends to the end
effector), or the controller communicates with the end effector’s
controlling device (such as a programmable logic controller [PLC]).

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• FANUCU Robot Sawyer Robot

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Controller.
• The controller is similar to cerebellum; although it does not have
the power of the brain, it still controls the motions.
• The controller receives its data from the processor (the brain of the
system), controls the motions of the actuators, and coordinates the
motions with the sensory feedback information.
• Eg: Suppose that in order for the robot to pick up a part from a bin,
it is necessary that its first joint be at 35 . If the joint is not already
at this magnitude, the controller sends a signal to the actuator (a
current to an electric motor, air to a pneumatic cylinder, or a signal
to a hydraulic servo valve), causing it to move. It then measures the
change in the joint angle through the feedback sensor attached to
the joint (a potentiometer, an encoder, and so on). When the joint
reaches the desired value, the signal is stopped.
• In more sophisticated robots, the velocity of the end plate and the
force exerted by the robot are also controlled by the controller.

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 Micro Controller

Micro Controller Burner

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Sensors
• Sensors are used to collect information about the internal state of
the robot or to communicate with the outside environment.
• The robot controller needs to know where each link of the robot is,
in order to know what the robot’s configuration is.
• It is similar for a human: when you wake up, even without opening
your eyes, or when it is completely dark, you still know where your
arms and legs are. This is because feedback sensors in your central
nervous system, embedded in muscle tendons, send information to
your brain. The brain uses this information to determine the length
of your muscles and, consequently, the state of your arms, legs, and
so on.
• The same is true for robots, where sensors, integrated into the
robot, send information about each joint or link to the controller,
which determines the configuration of the robot. Also, similar to
your major senses of sight, touch, hearing, taste, smell, and speech,
robots are equipped with external sensory.

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• Robot sensors: measure robot configuration/condition and its
environment and send such information to robot controller as
electronic signals (e.g., arm position, presence of toxic gas)

• Robots often need information that is beyond 5 human senses

(e.g., ability to: see in the dark, detect tiny amounts of
invisible radiation, measure movement that is too small or fast
for the human eye to see)

Accelerometer Using
Piezoelectric Effect
Flexiforce Sensor
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.
Vision Sensors

Vision Sensor: e.g., to pick bins,

perform inspection, etc

Part-Picking: Robot can

handle work pieces that are
randomly piled by using 3-D
vision sensor. Since alignment
operation, a special parts feeder,
and an alignment pallete are
not required, an automatic
system can be constructed at low
cost.
 Force Sensors
Force Sensor: e.g., parts
fitting and insertion,
force feedback in robotic
surgery

Parts fitting and insertion:

Robots can do precise fitting and
insertion of machine parts by using
force sensor. A robot can insert
parts that have the phases after
matching their phases in addition to
simply inserting them. It can
automate high- skill jobs.
 Proximity Sensors

Example
Infrared Ranging Sensor

KOALA ROBOT

• 6 ultrasonic sonar transducers to explore wide, open areas

•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
 Component of a robot…cont.
Tilt Sensors

Tilt sensors: e.g., to balance a robot

Example

Tilt Sensor

Planar Bipedal Robot

Processor.
• The processor is the brain of the robot. It calculates the motions of
the robot’s joints based on the programs it runs, determines how
much and how fast each joint must move to achieve the desired
location and speeds, and oversees the coordinated actions of the
controller and the sensors.
• The processor is generally a computer, which works like all other
computers but is dedicated to this purpose.
• It requires an operating system, programs, and peripheral
equipment like a monitor, and it has the same limitations and
capabilities.
• In some systems, the controller and the processor are integrated
together into one unit. In others, they are separate units.
• And in some, although the controller is provided by the
manufacturer, the processor is not; the manufacturer expects the
user to provide their own processor.
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Software:
• Three groups of software programs are used in a robot.
(i) The operating system operates the processor.
(ii) Robotic software calculates the necessary motions of each
joint based on the kinematic equations of the robot. This
information is sent to the controller. This software may be at
many different levels, from machine language to sophisticated
languages used by modern robots.
(iii) A collection of application oriented routines and programs
are developed in order to use the robot or its peripherals for
specific tasks, such as assembly, machine loading, material
handling, and so on. This includes additional vision routines
when the robot is equipped with a vision system.

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 POWER SOURCES
The sources of power used in robot are electric, pneumatic and hydraulic.
Electric power source:
 All robots use electricity as the primary source of energy.

 Electricity turns the pumps that provide hydraulic and pneumatic

pressure.
 It also powers the robot controller and all the electronic
components and peripheral devices.
 In all electric robots, the drive actuators, as well as the controller,
are electrically powered.
 Because electric robot do not require a hydraulic power unit, they
conserve floor space and decrease factory noise.
 No energy conversion is required.

EE1513-PRINCIPLES OF ROBOTICS
 POWER SOURCES….Cont.
Pneumatic: these are generally found in relatively low-cost
manipulators with low load carrying capacity.
 Pneumatic drives have been used for many years for powering
simple stop-to-stop motions.
 It is inherently light weight, particularly when operating
pressures are moderate.
Hydraulic: are either linear position actuators or a rotary vane
configuration.
 Hydraulic actuators provide a large amount of power for a given
actuator.
 The high power-to-weight ratio makes the hydraulic actuator
an attractive choice for moving moderate to high loads at
reasonable speeds and moderate noise level.
 Hydraulic motors usually provide a more efficient way of energy
to achieve a better performance, but they are expensive and
generally less accurate.
EE1513-PRINCIPLES OF ROBOTICS
 Degrees of Freedom (DOF)
• The number of independent movements that an object can perform in a
3D space is called the number of degrees of freedom.
• A rigid body in space has 6 degrees of freedom-three for position and
three for orientation.
• T1,T2 and T3 represents the linear motion along three perpendicular axes
(specify the position of body in space)
• Rotations R1,R2,R3 represents the angular motion about three
axes.(Specifies the orientation of the body)

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• Consider Revolute joints: A,B (or C)
• First link is connected to the ground at joint A.
• Link 1 can only rotate about the joint 1 (J1) w.r.t. ground and contribute to
one independent variable (one degree of freedom)
NB: An open kinematic chain with one end fixed to ground by a joint and
farther end of last link is free, has as many degrees of freedom as the number
of joints in the chain. (Assuming, each joint has only one degree of freedom)
DOF is also equal to number of links in open kinematic chain.
The variable defining the motion of a link at a joint is called a joint link
variable.

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 DEGREES OF FREEDOM

 Degrees of Freedom: Number of independent

position variables which would has to be specified
to locate all parts of a mechanism.
 It can also defined as refer to the movement range
available for a given piece of equipment within
three dimensions
 In most manipulators this is usually the number of
joints.
 Degrees of Freedom (DOF)

• In robotics, degrees of freedom is often used to describe the

number of directions that a robot can move a joint.
• A human arm is considered to have 7 DOF. A shoulder gives
pitch, yaw and roll, an elbow allows for pitch, and a wrist
allows for pitch, yaw and roll. Only 3 of those movements
would be necessary to move the hand to any point in space,
but people would lack the ability to grasp things from
different angles or directions.
• A robot (or object) that has mechanisms to control all 6
physical DOF is said to be holonomic. A robot (or object) that
has mechanisms to control all 6 physical DOF is said to be
holonomic.
• An object with fewer controllable DOF than total DOF is said
to be nonholonomic,and an object with more controllable
DOF than total DOF
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 DEGREES OF FREEDOM (CONTD.)

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.

Fig. 1.3 A Fanuc P-15 robot.

 DEGREES OF FREEDOM (CONTD.)

The three degrees of freedom located in

the arm of a robotic system are:

 The rotational transverse: is the

movement of the arm assembly about
a rotary axis, such as left-and-right
swivel of the robot’s arm about a base.

 The radial transverse: is the extension

and retraction of the arm or the in-
and-out motion relative to the base.

 The Vertical Transverse: Provides The

Up-and-down Motion Of The Arm Of
The Robotic System.
 DEGREES OF FREEDOM (CONTD.)

The three degrees of freedom

located in the wrist, which bear the
names of aeronautical terms, are:
o Pitch or bend: is the up-and-
down movement of the wrist.
o Yaw: is the right-and-left
movement of the wrist.
o Roll or swivel: is the rotation of
the hand.
 Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)
 Robot arm
configuration

Fig. 1.4

 Cartesian/rectangular/gantry (3P) : 3 cylinders joint

 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
Robot Reference Frames

Fig. 1.6 A robot’s World, Joint, and Tool

reference frames.
Most robots may be programmed
to move relative to either of these
reference frames.
Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations

 specifications
• The following definitions are used to characterize robot
specifications(Robot Characteristics)
• Payload: Payload is the weight a robot can carry
• Reach :Reach is the maximum distance a robot can reach
within its work envelope.
• Speed: speed is the distance per unit time the robot can
move, specified in inches per seconds or meters per second.
• Precision :Precision is defined as how accurately a specified
point can be reached
• Repeatability:Repeatability is how accurately the same
position can be reached if the motion is repeated many times.

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 Robot workspace
• Depending on their configuration and the size of their links and wrist
joints, robots can reach a collection of points around them that constitute
a workspace.
• The shape of the workspace for each robot is uniquely related to its
design. The workspace may be found mathematically by writing equations
that define the robot’s links and joints, and which include their limitations
such as ranges of motions for each joint
• Typical approximate workspaces for common robot configurations are
shown.

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–Design and control issues–

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Manipulation and control

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 – work cell
• robotic workcell or workcell, is a complete system that
includes the robot, controller, and other peripherals such as a
part positioner and safety environment.
• it is a workstation which consists of at least one robot and its
controller along with the safety measures.
Types of Robot Work Cell
• Generally, robot cell design comes in two cell types: steel and
aluminium. Aluminium is lightweight, and it is easy to modify
or extend with no need for welding or painting. Steel has a
rugged appearance, and it is used for heavy works, for
example, the metals processing industries.

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Things to Be Considered Before Design A Work Cell:
• Determine what job the work cell will be doing.
• Develop an outline of the tasks
• Choose robots with the right applications to do the job
• Select a positioner to move the product down the line
• Create a layout to efficiently and safety complete the task
Robot Work Cell Safety

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 Programming Modes
• Robots may be programmed in a number of different modes,
depending on the robot.
• Physical setup: In this mode, an operator sets up switches and
hard stops that control the motions of the robot. This mode is
usually used along with other devices such as programmable
logic controllers (PLCs).
• • Lead-through or teach mode: In this mode, the robot’s joints
are moved with a teach pendant. When the desired location
and orientation is achieved, the location is entered (taught)
into the controller. During playback, the controller moves the
joints to the same locations and orientations. This mode is
usually point-to-point, and as such, the motion between
points is not specified or controlled. Only the points that are
taught are guaranteed to be reached.

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• Continuous walk-through mode: In this mode, all robot joints are
moved simultaneously, while the motion is continuously sampled
and recorded by the controller. During playback, the exact motion
that was recorded is executed. The motions are taught by an
operator, either through a model, by physically moving the end
effector, or by “wearing” the robot arm and moving it through its
workspace. Painting robots, for example, may be programmed by
skilled painters through this mode.
• • Software mode: In this mode, a program is written offline or
online and is executed by the controller to control the motions. The
programming mode is the most sophisticated and versatile mode
and can include sensory information, conditional statements (such
as if…then statements), and branching. However, it requires a
working knowledge of the programming syntax of the robot before
any program is written.

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 – Programming languages
The following is are the different levels of robotic languages:
• Microcomputer machine language level:
– At this level, programs are written in machine language.
– This level of programming is the most basic, and is very efficient, but it
is difficult to understand and difficult for others to follow.
– All languages will eventually be interpreted or compiled to this level.
However, in the case of higher-level programs, the user writes the
programs in a higher-level language that is easier to follow and
understand.
• Point-to-point level:
– At this level, the coordinates of the points are entered sequentially,
and the robot follows the points as specified.
– This is a very primitive and simple type of program and is easy to use,
but not very powerful.
– It also lacks branching, sensory information, and conditional
statements.

EE1513-PRINCIPLES OF ROBOTICS 1
• Primitive motion level:
– In these languages, it is possible to develop more-sophisticated
programs, including sensory information, branching, and conditional
statements.
– Most languages at this level are interpreter-based.
• Structured programming level:
– Most languages at this level are compiler-based, are powerful, and
allow more sophisticated programming.
– However, they are also more difficult to learn
• • Task-oriented level:
– There are no actual languages in existence at this level – yet.
– AUTOPASS, proposed by IBM in the 1980s, never materialized.
– AUTOPASS was supposed to be task oriented, meaning that instead of
programming a robot to perform a task by programming each and
every step, the user would only mention the task, expecting that the
controller would create the necessary sequence.

EE1513-PRINCIPLES OF ROBOTICS 1
 Programming Languages
• For achieving complex and time-based objectives, robots
need to be trained so that they may understand how to
respond to changing environments which is possible
through robot programming.
• Top 6 programming languages which can solve common
problems in robot are,
1. C/C++
2. LISP
3. Java
4. C# (.NET)
5. Python
6. MATLAB

EE1513-PRINCIPLES OF ROBOTICS 1
• 1. C/C++
• Learning the basic syntax and functions of C/C++ is helpful
for creating a programmable robot and stretching its
performance so that it may respond proactively and
accurately in high complexity environments.
• Though it takes a lot of time to write a C or C++ program, yet
we can access:
 a complete robotics library that interacts potentially with low-
level hardware.
 Because both languages are standard languages in the field of
robotics, it can quickly establish a relationship with robot
kinematics, motion planning, visualization, and collision
detection.
 C/C++ programs helps to analyze, understand, and improve the
dynamic behavior of a robot bound to position, velocity, and
acceleration.
EE1513-PRINCIPLES OF ROBOTICS 1
• 2. LISP
• LISP, is a high-level programming language with
which we can control the movement of robots.
• In real time,one can develop many robot control
functions and implement them in an error-free manner
using LISP.
• No need to worry about access permissions since LISP
with its packages and libraries can handle them well.
• manipulation of functions used in LISP codes can control
every type of movement like arm, leg, or head movement

EE1513-PRINCIPLES OF ROBOTICS 1
• 3. Java
• Java is one of the most in-demand programming languages
next to Python.
• Nowadays, people of the data science and robotics
community are accepting Java to implement machine
learning solutions.
• It will help robots proactively understand data patterns without
any obstacles.
• With Java:
• developers can dramatically broaden a robot’s capabilities.
• While using the tools and libraries of Java, there is no need to
program the robot explicitly for predicting outcomes of
increased accuracy.
• Later, you can execute it on Raspberry Pi having a camera
connected.
EE1513-PRINCIPLES OF ROBOTICS 1
4. C# (.NET)
• C#(.NET) and its libraries like Machina.NET and ROS.NET
are popularly used by many robot developers for controlling
robots in real-time.
• Also, the language is license-permissive.ie. we can use C#
with the least restrictions in any of our robotic projects.
Besides, this programming language:
• won’t change the key functionalities of your robot.
• Also, anyone interested in making his/her career in
robotics and boosting it by creating apps for any type of robot
must be well-versed with its IDEs, tools, and libraries.
• But to create service-oriented and lightweight applications for
your robot, you must have a good knowledge of Microsoft
robotics studio.
• With this framework, you have an opportunity to test
simulations of your robots during runtime whose solutions are
attractive in terms of visualization and learnings with lesser or
no investments.
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• 5. Python
• Just like Java, Python is an interpreted programming
language that can potentially create, compute, or
activate post-process Thinking Benefit of those
programs are:
– to help your robot adapt to a specific motion style you
want.
– However, such programs aren’t a good option when it
comes to enhancing the performance of critical parts of
your robot like sensors, actuators.
– There, offline robot programming with its intuitive and
user-friendly steps would be a wiser choice in testing
various critical parts of your robot and then, flexibly
integrating them with CAM/CAD software. In a nutshell,
Python works fine when you need to test rapidly the
robotic applications with basic functionalities at less
computation powerEE1513-PRINCIPLES
and minimal time constraints.
OF ROBOTICS 1
• 6. MATLAB
• MATLAB is jack of robotics. It is because, with its
impeccable open-source programming environment,
various robotics researchers, engineers, developers, and
programmers can:
– design, test, and simulate the apps necessary to make the robot
(humanoid or autonomous) more flexible and productive.
– For mobile robots, MATLAB offers a comprehensive toolkit for
forward and inverse kinematics of humanoid or mobile robots,
motion control, and various Algos for trajectory generation and
collision-tracking.

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 Applications of Robots
• Robots may be used in
– manufacturing environments
– in underwater and space exploration
– in researching human and animal behavior
– for aiding the disabled
– for transportation and delivery
– for military purposes,
– even for fun.
In any capacity, robots can be useful but need to be programmed
and controlled.

EE1513-PRINCIPLES OF ROBOTICS 1
Application of Robot….Cont.
Robots in Industry
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
 Application of Robot….Cont
Industrial Applications of Robots

•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection
Assembly Manipulator

Spot Welding Manipulator

 Application of Robot….Cont.
 Robot Application

Fig. 1.8 A Staubli robot loading and unloading Fig. 1.9 Staubli robot placing dishwasher tubs

Fig. 1.10 An AM120 Fanuc robot Fig. 1.11 A P200 Fanuc painting automobile bodies
Application of Robot….Cont.
Robots in Space

NASA Space Station

Robots in Hazardous Environments

TROV in Antarctica HAZBOT operating in

operatingunder
operating underwater
water atmospherescontaining
atmospheres containing
gases
 Medical Robots

Robotic assistant for

micro surgery
 Robots in Military

PREDATOR
SPLIT STRIKE: ISTAR
Deployed from
Deployed a a
from
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat
GLOBAL HAWK GOLDENEYE
 Application of Robot….Cont.
Robots at Home

Sony SDR-3X Entertainment Robot Sony Aido

 Robots at Home

Photo: Robotic Vacuum Cleaner Photo: Garbage Collector

EE1513-PRINCIPLES OF ROBOTICS 1
Photo: The SCRUBMATE Robot
 ADVANTAGES OF ROBOTS

Some of the key benefits of robots in industry and society in

general are:
 Robots can perform many tasks more quickly, safely,
accurately and cheaply than human workers.
 Robots can work continuously for long periods of time
without fatigue or boredom.
 A robot can use sensors to gather information about its
environment that is not detectable using the human senses.
 Robots can be equipped with dexterous capabilities beyond
those of humans, in terms of speed, force and / or accuracy.
 Robots can work in hazardous or uncomfortable
environments.
 Advantages of Robots
• Robotics and automation can increase productivity, safety, efficiency,
quality, and consistency of products.
• Robots can work in hazardous environments (such as radiation, darkness,
hot and cold, ocean bottoms, space, and so on) without the need for life
support, comfort, or concern for safety.
• Robots need no environmental comfort like lighting, air conditioning,
ventilation, and noise protection.
• Robots work continuously without tiring or fatigue or boredom. They do
not get mad, do not have hangovers, and need no medical insurance or
vacation.
• Robots have repeatable precision at all times unless something happens to
them, or unless they wear out.
• Robots can be much more accurate than humans. Typical linear accuracies
are a few ten-thousandths of an inch. New wafer-handling robots have
micro-inch accuracies.
• Robots and their accessories and sensors can have capabilities beyond
those of humans.
• Robots can process multiple stimuli or tasks simultaneously. Humans can
only process one active stimulus.

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 Disadvantages of Robots

 Robots replacing human worker causes economic hardship,

workers dissatisfaction and resentment, the needs to retrain
replaced workers
 Robots lack capability to respond in emergencies.
 Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Dexterity, Sensors, Vision
system, real time response.
 Robots are costly, due to Initial cost of equipment,
Installation costs, Need for Peripherals, Need for training,
Need for programming.
 Disadvantages of Robots
• Robots replace human workers, causing economic hardship, worker dissatisfaction and
resentment, and the need for retraining the replaced workforce.
• Robots lack the capability to respond in emergencies, unless the situation is predicted
and the response is included in the system.
• Safety measures are needed to ensure that they do not injure operators and other
machines that are working with them. This includes: –
– Inappropriate or wrong responses
– Lack of decision-making power
– Loss of power
– Damage to the robot and other devices
– Injuries to humans
• Robots, although superior in certain senses, have limited capabilities in:
– Cognition, creativity, decision making, and understanding
– Degrees of freedom and dexterity
– Sensors and vision systems – Real-time response
• Robots are costly due to:
– Initial cost of equipment and installation
– Need for integration into the manufacturing processes
– Need for peripherals
– Need for training
– Need for programming

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