FOUNDATION OF ROBOTICS - 2021
UNIT – 1
FUNDAMENTALS OF ROBOTICS
1.CLASSIFICATION OF ROBOTS BASED ON CONTROL:
❖ TYPES OF ROBOT CONTROL:
1. STOP TO STOP
2. POINT TO POINT CONTROL ROBOT
3. CONTINUOUS PATH
4. CONTROLLED PATH
1.STOP TO STOP:
➢ Moves in a sequence of steps, stopping at each point.
➢ Open Loop control system.
➢ On (or) Off commands stored as valve states.
➢ Position and Velocity unknown to controller.
Advantages: Simple to program and control.
Disadvantages: Limited flexibility and accuracy.
Applications: Pick-and-place operations.
2.POINT TO POINT:
➢ Moves between predefined points, but the path is not
controlled precisely.
➢ Point to point path control of a robot has the capability
to control all the three axes (X, Y, Z). But not
simultaneously.
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, ➢ Point-to-point robots do not have precise control over
the path between points.
➢ The robot can be programmed by manually moving it
through the desired points.
➢ The robot stores the points in its memory and repeats
the sequence.
ADVANTAGES:
➢ Simple to program and control.
➢ Reliable for repetitive tasks.
DISADVANTAGES:
➢ Lack of precise path control.
➢ Limited flexibility for complex tasks.
APPLICATIONS:
➢ Spot welding
➢ drilling.
3. CONTINOUS PATH:
➢ Follows a continuous path defined by a series of points.
➢ They can follow complex, irregular paths with high
accuracy.
➢ The desired path is defined by a large number of points.
➢ The robot stores these points and follows them to
reproduce the path.
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, ADVANTAGES:
➢ High precision and accuracy.
➢ Can perform complex tasks.
DISADVANTAGES:
➢ Requires more complex programming and control.
➢ More expensive than simpler control systems.
APPLICATIONS:
➢ Gluing.
➢ Finishing.
➢ Spray painting.
➢ Arc welding operation.
4.CONTROLLED PATH ROBOT:
➢ Similar to continuous path, but with additional features
like velocity and acceleration control.
➢ The control system can generate paths of various
geometries, including straight lines, circles, and curves.
➢ The desired path is defined by a series of points and
path definition functions.
➢ The robot stores this information and follows the path.
ADVANTAGES:
➢ High precision and accuracy.
➢ Capable of performing complex tasks.
3|Page
UNIT – 1
FUNDAMENTALS OF ROBOTICS
1.CLASSIFICATION OF ROBOTS BASED ON CONTROL:
❖ TYPES OF ROBOT CONTROL:
1. STOP TO STOP
2. POINT TO POINT CONTROL ROBOT
3. CONTINUOUS PATH
4. CONTROLLED PATH
1.STOP TO STOP:
➢ Moves in a sequence of steps, stopping at each point.
➢ Open Loop control system.
➢ On (or) Off commands stored as valve states.
➢ Position and Velocity unknown to controller.
Advantages: Simple to program and control.
Disadvantages: Limited flexibility and accuracy.
Applications: Pick-and-place operations.
2.POINT TO POINT:
➢ Moves between predefined points, but the path is not
controlled precisely.
➢ Point to point path control of a robot has the capability
to control all the three axes (X, Y, Z). But not
simultaneously.
1|Page
, ➢ Point-to-point robots do not have precise control over
the path between points.
➢ The robot can be programmed by manually moving it
through the desired points.
➢ The robot stores the points in its memory and repeats
the sequence.
ADVANTAGES:
➢ Simple to program and control.
➢ Reliable for repetitive tasks.
DISADVANTAGES:
➢ Lack of precise path control.
➢ Limited flexibility for complex tasks.
APPLICATIONS:
➢ Spot welding
➢ drilling.
3. CONTINOUS PATH:
➢ Follows a continuous path defined by a series of points.
➢ They can follow complex, irregular paths with high
accuracy.
➢ The desired path is defined by a large number of points.
➢ The robot stores these points and follows them to
reproduce the path.
2|Page
, ADVANTAGES:
➢ High precision and accuracy.
➢ Can perform complex tasks.
DISADVANTAGES:
➢ Requires more complex programming and control.
➢ More expensive than simpler control systems.
APPLICATIONS:
➢ Gluing.
➢ Finishing.
➢ Spray painting.
➢ Arc welding operation.
4.CONTROLLED PATH ROBOT:
➢ Similar to continuous path, but with additional features
like velocity and acceleration control.
➢ The control system can generate paths of various
geometries, including straight lines, circles, and curves.
➢ The desired path is defined by a series of points and
path definition functions.
➢ The robot stores this information and follows the path.
ADVANTAGES:
➢ High precision and accuracy.
➢ Capable of performing complex tasks.
3|Page
