Robotics robotics combines science, engineering, and technology to design, construct, operate, and use machines programmed to replicate, substitute, or assist humans in completing tasks of varying complexity.

robotics combines science, engineering, and technology to design, construct, operate, and use machines programmed to replicate, substitute, or assist humans in completing tasks of varying complexity.

1. Robotics
SS
Robot
—
A Robot
more Runge dorky automatically with $
Preusin-
TRAD am Mary outer pes
Robot Hat Resemble human — Known as Ardyoicls-

da à wouhing deuqntd +0 aro one (E)
peed +

% Robot-

= Autonomus Robot= Smart Robot (Robot + Az)
Can fake Hur OWN deus jon :

N a Y Repearable, Preisen att thnes
Need! >, work m Hazardeots environment” Partir o

hard tl ¿Foo mates)
v ; “cp Loshe-
can wok continiouv Luft out mec As An
environmurt Comfogt , DLn ews - .

welel 9 9

2. Rokot!c&
design

V ranch of Tehnoloay that deals with F conto We
operachona

Ÿ Robot Important Protical Lie Application
Exam gpeufic- LA

201% - 4 Quatons

3209/8 — 4 Questions | peli
2019 — 2 Buertions
2020 — 6 Quertrory

v Exam speufic — ESE (upce)

=> ie Almost 4 Guestfons, Br yeor Peis Exam

3. Syllabus of Robot

UPsc Syllabur
v Robots

= Robot clan i-A'cochton

Y Robot speufreattons

1
2
3
4 & Notation

5% Diet #& Invuge Kinematt

6 ” Pomojeneoua Co-Orcl rate.

te km £quaHon of +axías SCARA Robot:

4. Mound Paper
OÖ Homogenenua Co-orcinatt Sete
OD pire 4 mere Kinemetie

© py convention D-Beravite Ho Hlantenbong
Lon for ward Kinematics )

@ Clarsi fications not asked in Prune H I row

5. Sequence © lecture Series u
3. Intoaution — importan of (Exam) |
2 opie in
Robot, tH importante , RobüHL , Lavo of Robot,
favanteqe > Lmutation ı Previous Vers :
3- i
Uawificatons Unite cal, DoF, Adtuator)
A agen \ Sprultal
1 spuipicartons catalan ete

E speed, Pec wre , OOF, Reperctabiti} ) Lortsol

Resolution EIG

5. P y
Basic Transformation L Translation y Roteton ; Rebtection
etc)

6: ,
Miscellaneous (SARA, OTHE needful He )
pi

6. Need Robots
ee A ObOLS
PLA

oz

Bienen do tnt want +0 work heme Healy » told condi)
= Poisonous environ rent”

à UMA, con it work E Amp sta
SPUR

2, We dont prefer ruman , dated Of human ne A
2 Loccun nen 4
ASCCUN + Pruialon G) Assembly 4 biz pá
mo en . spray Pair $ were

(il

7. Duu
Robot, + Cr E

Darge yo
v Robot word Aria from Robota "U czech word) — Karel. Kapek

(ta20)
© Robota Mean’ — Ford compulava Labour
=. .
Lo avant nud avy humanly
never ful +ive, ne , Can
work, for unlimildd tine +

w
A Robot 28 anprıgrammakle, muttfunoralydeaigmid +0
mani pulactor
handle, meatal; Parti, tool: @) <periabhed hunts +Heovough
var ahle Proqrammed motions for Me Pertomanız of vano

5 HUES .
Y Robot, word mas Gen by ISSAC Asst Mov >
ll]

8. Generations oF Robot

=> Fiat Genevahon Robots

Y Repeating Non cero, Pick E Plone) Point + Point Hd

w Joy of ES these Robok 4 wilh rain
Continue in use :
D 274 Generation Robott
Y Sensi deviter added
Y Robot exhibir Path corderl Capabitékes
p 374 Generation Robots
vu tote Wgerur added , s Ud kaming E
Conwusion chewing Caparb clits theugh part exp: ,

— A Generation Robots >
v tr dittudt to Preta AK future put ma] be
PCG, dvoid (E Tue Arco ic (ES Artificial Biological Robot y

9. Laws in Robots
oe

A Queries, Robot corta

(Mark Tildon 'S Law)
TSSAC Assımov

EPSRC & AYRE Gurdelinex

ISF Lao
> law of Robots by Assimov a uk
274 law Just ke In
——
Ne grd Las “Thu mocy rarmix
S But apo all ttre 3 Law, one Lem AU tome Lower
JA

Most important amorg alt 8 law 20 pur
Above these law Ao calted xemth Law:

ns il

10. Y Zenith tow (soual Etica)
© À Robot mar not Injuve human & Hoough inaton
ado wo Door +o Cometohorm -
© Soual Ema»

IST Law
MAD truman Si )

A Robot | not injuse human being (3 threvgh madton
aUMW A human bein] Has med:

nd y Robot anz Slows) a A
v rarer mat Ob ordess ahen ie by Warman beings

ie en order would cœn£utt uh firct La:

Sad Low CRobor Ne oun estate as Long as
bot nus % Hh the Aut Send
Er protection aoû not confuit” peda af

Law)’

11. EPSRC F ANRC Guidelines
EPSRC — Engineering + Physical cuernwr Rebearh Counc

AYRE — Ark and HumantHel Research Counúl
O A Rokot should nor esl ec pres dl und fo £20
a human.
For any mis —happenivg eto Humans ano rupmüble
not Ho Robot
(5 Should be, desiqred in Stuh a wer) +0 accuve thls Lag ola
© Robot Ti should always pe ei by O humen, abt it

Works A j }
Perm une d can be apli 9 apio arte

12. ic Law
Robot aytic Lou. |
Le Mark Titaon’s low
O Robot must Port iF rear
D # Robot must obten Y mraiwteu'n WUE own Powu
Sour:

Ó » Robot rust a, search for bete Pour

SOUL:

13. RoBot Comporenti

0 Bas e

O Link + To lyr

a
Erd euer

6) Dave unt

© Sensor
@) Ov PM controller

Ca

14. O Base
Y
Provicle, PE do oler sia
ST u)
Ste]
O und int
= |
Manupuledor |
deve used + manipulate mattuals|
without direct Physial contado
by SR operator

Body
manipulates CONT Bt Ace

& Westar
Manipulator consist DS Joint
+ kinks. |

Joint provide Relative motion cohik
Link > Rigid member. bray rot

15. Link
These are Rigid component 6)
embers.

Odeatgn atrd by Ora le
Lot ¡== Lo
dy

©
Tp win >
Pa
D Near, Buse, Dons D
dick

Sea Si
| near +0 erd «ftater

& tot:

Hit

Drrovide Rakatıe motion bus >
Links:
O une cue Repent Ey Y,
e 3. h--- M

16. , ‘ I
its Lee Joint) © Prismatic. Dont

pee eee Er A] Unur Jomt ty ae

Prismattc e

& Translostoral ary soit
linear ortvagorel Lo eavolvi
Toiwe Tor Rotational
Twist à

Dip Folp sink
Ls Both ase Pavalkel

Ormotion af op sink will be in the
diotion 5 Curs % Sp nk.
cu

17. pe O

motion S op Link wor. E.
YP tink a LY to aris
Sy Up wire:

18. & Revoludu (A Rote Fort

A) Rotatioral (6% —otary Joint
pe OA?

le
u
a. ki) Le
Ip AR It 40 e]p tin Bs!
>
3 RER: rotation 740 Avis
% Up € ojp aink-

LR kee *
J Twisting Tost [Taint |

ole ANR

40 ofp TR
taxon

Up LR
V Tip dink Ja Parallel
Voie dns, Os [PADEL

©] Regpivirg Joint [Vl al

Up ang dart = |
to oxta OF =
sotation | ©
ve ~
* rotation WwW copes) in)
olp tink i i. ne

+ JN axit D

Up Link

19. Imp nota | 127. Revolving joint of the robot is referred to as

0) NOTANON | (a) Ljoint
Linear Jolvt (Es @ Ojoint

© wtrogorot Toit 0 © Tjoint

©) Rotottoveat tong R (d) Vjoint

® Revolut Jo Vv

DO Be tot T

20. OQ weist
Tur AU Q human wait, 0
axtontd +0 arto ‚Ward +0 dan
He uu:
= arq ular te Pu

21. Dr acl BELO UT tios Ny AS
+ ta dana ap ht ero ys Rokotit
Pro 6? manipuleto® ; aeriqred

+0 Inuod with nt environment
© yok nature dy End effete Aepurdi
upon LE appueation (6%) Mac. for

Spee +R -
Grippexs — TO Grasp 2 manipula
a a tools Sejest E

Ly spot weee
LS pro Ve Pym] FRS

ner
mpper p> Metanial
> Ppneumatis
Maqnetio

23. Ñ Rod
Manipulator REN,
ale

Am
To Position the erd autor
Jn SP spam: need of teast
300€. (Arba
= Az location)

| wriat
Provi'cl, ovigvitatton to
ero 2th rtors.
3 Ot kant L DOF:
Pot TO) locstiog

+ Rut forarbi tr} = 3D0F
Trek El aa
CITE]

O eo oa o

a bofF. a
2
© Bvors 2 10mr 4 AK
Kar wr
= 4 joe
O

Prom + pont > MN 4 DF
Prem tomar (Ay brhrary) yyerel
6 Pop

li]

24. AGDE CPrsicul, aston)
UBA +0 MOVE eltmenta uy
Marí pudes: (POWs provtele)

alao Known ak drive, Lt shoutd
hare ewugh Power to acreteroti
ddeceleratt Tht Raps ard to
Covey TL Locdli -

Each actuados driven by corboller:

Artuertosc Etre motors ( Servo
heat Und) "Stepper
Mudra
For tiva Hla wrt
Preumeetic,
Smoke type es
\ Simple, matual honte) Ci

25. Controller Ae As pes Bote so E eee)

®) Robot ne os co
keeps tre pleves 0 HR am ae
Joqether Q mu corr purr à He
Conholie >
O rica rat E
Robot

li]

26. Sense
“ @rse avomable & cord
Signala +0 Contol ler.

leo Trtunak |
sense intural move El
Cua pociHon, |
ate velo WE et
interach win ou

A environment
Toile > Touch

27. Robot Aw motion
4

orton ut. fase: 4

O Racal Twovesse Arm in E ox mi
O verrttal Trarese UP 4 down motion of orm wer Joint,

® Rotaroral Travene, Jar & wight swith a tho yobot’S
an okout Wht Bare:

Rackal

Trangae

28. Degstenf Freedom chor) ;
v Iredepenolant position variable yutoed +0 Lo (cd alt Part oe
vino % Anotpenolent mouvement Uy AK Loreen) des Far

Diet wong a vobot crm cam move:
une: Join:

no: S Joints = no. Oe bOFS no: Op Links +

V'fmp,

EM: % Pau abro

In RoboHa Some Important Factor
O positonal change, Link:
© oviertation chango Of worth E worl com E hare Untay
€) motion Wb tink.
AUHAT Can have oy voten motions al

29. O)

o toto e
Mer put (oe — BD0-F (mafor Aye)
le o
Bore & wear SDO.F [minor Axe) pl
ET) O >, .1t03° > west motion 22 Lied ie
nd position charge, mo onientaton
E
Dor > ur6 — 4> 23m Ann + host
minor 1 2, GS omlentaho
Bots . os H oral ”
6 Pro vole Potrerge ASE
> For a en position rm — E

Ls DOF wÆwqutd < O)
Lust É/ =

CS >. Gr
L Rida nd Pape dE)

Ls operate and mur Leroi ru CI
e

© y verze

30. © Manip eutoctor Pm — FramalatHion forwoord — ES
lato its

- ies vuon

On —> Rotation
Pitch
Rol

ee

DOF Prom,
a otation => Arm: ge
wat

| Sn

A ns ARSE
Total 5 yoint — 6) DOF a

31. Bus: A
DOF =? ;

Zoo. of vo!

vr = No: of DOF
=No: by Autos
= Mist

PL
Tara — © sow
Ls (D bor

Y peas |
EUGENE pi for aybiivant aK in 20 [MMR Al
5 poF- Paintir & wildine Pov UUW Lan bet tone 7

E

(E) 4 DOF- SCARA ROBOT u

77 GDoF- Ruaurelan > OS oe uE >
cu

32. Important time Relata col Rekottcz
ÈS M)

O Ares [AXIS 3, da me érection > Tp stake a motion Of robot

id wotlen )
“ Bat (ua

“Tra qe

O pucterairion ctieranton E cpu
How fart a Link (69 Arm charge, „U

PosrHoN (Speed = dütanız

How iP par

fost a vo i ‘ E

= Ñ bot Can auhieve (pick up) CHE mrauimum
Ly for aut “there motion , veloc, Aer eley ation

@ La Bink get Power forn Actuator (ame) Hl

33. O au fe y closeness to He tarqet value: Tan obreued .
“ Refer +0 medion -

eS waa o

Y puual ART of a menawement +0 math ue oral Use)
Vaud Ds amo Bua tit} buy measured: >
v dieras bw Final RoruLt I desired Rerult: a

=e

Vv wrt: Robot HOW ne: erd <fHctor #8 4
gro] er des td potfion : Tn tre Game Ey (

th L attained ‘i
= Arendt © O a Tre wits Tew set (Bulle)
SA of erc
Position pan Da Socio path comma pa big ober Controle:

li]

34. ® Preu.cion
ALU 40 Reproduce acetain Riading with Given Ten,
Target >
GE À
move Std: dviationts) ®
Ls more Scoot dis Pexion)®
=
o
E [psu Less preu'se
median .
' (Pre une )
(not preunt) ne
ve move v >=

) ar

35. O L

rl E
¡p Raproouue tre butput — Lohtn Same Tjp 44 r
v Pei pr pP Oppued fo Dr

Corne tuttel Under 4

came “Hon - i

VRB ILA Robot +0 | posten à whem
asked to Prtom A tark multiple times. ‘
& How wel Robot Retumd +0 a Progr anmod ¡

pocttion .
Y Lew of agreement bu athkieved Posihons for hot mom Lefort
Under Dt Same torcuitibn d- by Hu Same method.

(il

36. Ñ Low ©
À Chuvatt
Preane x TO I 20

37. Les Carine Copa Uva?
(O) Maximum Loe (stew (03) Wt.) a vobotfa aym a ise

Can Er
© Aperda on SD ma Sata 93: Robot size , mo: of yon
bs +yPa Of dose

Apputation ty Pe
aay "Sevan

(0) As no: Of Joints f > Load Cara cor % arvkot y

AO FA a no: ty Wtakes est Part inurares:
x o Ds weeks ?
ser ya we akork, as hue ont sort 24 pris enh
6

ain ne beam:

Tem Rute o of anes | re CAR al A
st e op

But Load Caxryir9 Cap. thy cE

38. work volume @ werk Envelope
© Total volume suspt 60 covertd by The exo eHutors

SAO working.

eg makrimuam 2, wunm Noth B a robot '
> sweet vo lune
= ae BEP )x =
: en ae
ne” 4 en Neck,
RZ Le For u¡Ulrdatal,
= Co-orUrott
Robot”

ze Ai cal Lr Can be Loc

fan al Robot -
ll]

39. Contsol Resolution
is ai

> olistanie bjw adjaunt Adelwessakle Poirts.

= Gspabi Lily of tee Robot’S Position Syst + divide
The navge 8 Jone int cto Spare} Point. calud
Os adress able Ports +0 ww joint can be moral

by the tontoliex Fe 27 = Memo
007
> no. 5% bio the bir storage, Register Ben,
Number of Pddrecseble Point In rat Range, (ao pre Rarge)
motton = 2" Ra A
ala II RE A
Am Ben

For Untar bot arm +40 more
cuitare d by N bit conter Jen

Z Resolution = d_
zZ Sos coub jont 2”

40. ze
jue know Robot la formtd sexual, no: Ay doive) =

O xn HA me
For coder contro! Resolution By eyes Robot
componert" Resolutonz for earth Jomt shouthd (would)

hore + be gummed vertont N

y Rasoletton ur cperd on Am youre,

O wal conto
com motion aswell ar Bods mottong-

Ar H -
6) spatía Resol oros manipulados ar AE tool 63 od
6 5
Sémaueat snuement of mover’, Sn vont Robot

Can divicle «U Loom volume”? A
Ce corral Re olichio

depends US
di EPS E 1 ES RobotS mechantiial

Ännaceuye let: ci

41. 142, Using a robot with 1 degree of freedom
and having 1 sliding joint with a full
range of 1m, if the robot's control
memory has a 12-bit storage capacity,
the control resolution for the axis of
motion will be

(a) 0-236 mm
(b) 0'244 mm
(c) 0-252 mm

(d) 0-260 mm

ES 20
Env

Control Resolution
= Rarge
no: OF Address point
= | Lo
on we (Pap she

= J 1
„2 4076

= s2uu x 103 M

(G3) 244 m
GR) Pose

42. ES-2010 ===
A Cylindrical Robot can reach any point in a cylinder of
a height L and radius 2L, except for the points in an
inner cylinder of height L and radius L. The volume for
the Cylindrical Robot work envelope will be
(a) 9.42 L? (b) 6.24 L3
(c) 9.12 LS (d) 9.86 L3

43. Types of Manipuledor
te m—

e
O sert O Pere. 3
O sewal manipwletor À Fixed Bove

inks E goiws conned sauna
He d

and Ser in a end eppodor

: Ê

44. A tna etustor Lx connai To Bane vie
Several, Unt vonnetis ) Jaw
O _ Howe atleast 2 Lys

mov") Patton

Rena (fred ptoct{omn)

45. Prsuyo brio. vTmen- ane YN Che Joirte Fall Joink ont (cE
v No Gyan ity wor
vun'que Relation bluo dedo,

a > ditplauu ment vector d4 jo - + a +

oa pr sor von à AA
2 aoe

\ f
Bi
era poko À >
> planet ot due. to Soivt( Res.

2-
Bin %n= Elm)

=> + lw) smile Maz, Ha) ter
ae Apot

Jo

fo 3 2 Unique.

ord or
explorer 3

Heyl

46. de = à u Sy, + 2H os. a

en
1

a cu

aes ae $

e
| e
\ |
& | je (
mon = Ota eo, + din Sq. + Of
Ojo abn a E
¿AO E: Be Sa, +
Bh 3 i
Sy, A .
F E 4 a SV
Mo
> en
re Tocobian Mod

> $27 Ina

47. Ty we
a TE Togque ar D
Fora E roquived Or Foru ar era AO
Toral wor, by Toma Joint = (Ore Wore by fort
E Lrd putos
Y SU = FT, Se
Lo LS displaurmor Duo
ret of ard a sto ent
Now Fake Travuport on both side
=
a «ful le x [IX sh) ]
ud for = SET
ur I orte 51 ely (AT à
po ¿AO dE AT
pue > (AB) yA
pred
sai

7

48. Robot Class Cat’ St

Mearical

Catesion arrargenent (6) 1-2 avrarqement” ia
© As Kryouon ar ee Robot COP bet) Z
7 On} hare revu letory Joint < Line matt

Lom Base Ortiajond Pr EMA Le

O up Faowon 20 Joiner

O Rigrr & O) sort

OA ward # —(DHoont —

Dire

3 SUL movement
3 Primario >

Gerda ip we qhe tthe SPP
43 OK: It more than { Supra 18 Mn
ps a part of Casrtestan corfiquret $

p +0 M Lins: 4 SuppoxT
pr tan Can] nah Loo

49. GANTRY Robot
——
Pesos Enrlope 48 sin

of car Klan Type:
vun Enumser 1% work Exrclope
Aom pura
vo Robot WWich works from The osa
A work volume (work Envelope)

Lar with other YObOS

50. Repocre vitte [Möteklon )— LLL
WOsK VOLUME — cubote)

fem mot'on — Bg bons @ nao
Appucatton 7 pro Welding

prk PR Piuxr,
3D o

Plastic mo SR

favatage.

y can car le ear Wed - mal
Y Acwray
v Simple De pesto
v High Spud:
v tem cost
Ge TR we
Dj advo AR
po ' o

Es Mel Mani pul ta tél

)

Werten

set

51. 5. SARA Robot_( BK )

e
Selective Compliant GENRE) Robot Arm e
OY.
Selene Compliant Articulated Robst Arm 3
Bintan: 10 york Arm Robot expr thot real, Axes F
cm uma for showlder ard elbow Joints +o be 5
Compiiant in Horizontal dirution pr ere teen ‘
tare - - € ©
(comprare) porto
ony Fie

3
>

ah = +0
zZoam alert Es) yetical año, Ai
oS DOFZU i

Y Work Envie > ona Nm CS

xi ae ye Eanes ard wg)

Y ES ont For wereld Linea

Ho solution
2 invene Einematíe

Rudi ON +

52. Y issembl4
v er Loaot-q Uri fa! O,

Maya a sopher Hd
E dE Li "a 1 Ko

Planner ak, Controller .

AREA

Pavortege: W High sped v Programming A otto oe
ML. pede. inn Far tenor
Y Providlt Lager work envelope tray coxtehian
Hitrdnial

VTT tentiqunation provrelo ign EE

SHH US 40 thram in re vutital electron
& High compliant in Tha nora tb Plane

53. 2. Robot clawification Rod on Degree u Pucon
O pboF<€ > conbtyaun ed Maw pulator
O Dof =6 — Spatial Maw pulator
O BoF 76 — Ridundant Manipulador
3: Rad on Actuator RokpHe system

O Pneumatio - low Porte + for , Small Appucaton
Elec — oct fe amy cone 1 Skpper— open

SUVO— Chore Loop

Hydraulic y td for HIgh Power L Forte Gurunatida

E und for na Lure

54. A Bord upon control
[e open toop

No Feed bok re

NO suth Sevuor
ape
Cost bewome Low

Non sexvd motos

@
e)
e
O

skppor motor
©

Print Portion

Appucatton& InHal à
Applicant initial GE)

v pk Plone

v load # unloods
v spot wilde

Sa diswt Fyre % een

zuystem

2: clos Loop

Feed back barton Parent

Decke Ru 2
Raw Result — >
” Proviktod
Conkoller PY Suntor

SEND motor usd.
Continious Ape Of Muanim

| (5 Path furst'on,
ee Prppucattons
vo Prt Wel ly

2 S| cae | |

55. Geomemcal Analy sk
Robot Unemaras a

— Denayvir — Hortense (DA) Mal
Y Ex 2 DoF 2 Bho Poe) Master ins

*” Robot Hinematits,;—» Fort oer Knemahas (0%) pros
—— Rnemat

LL Re vewe Kine matty

2 La, Ya VEER
y
4

DO mix spa
O wortol spare

56. Teint SPAR
AAA y

MER
ren argile wr ti” aw
= Link-L Urgih F
co-orlyad 4%
doit ls J
Le, = angle tiealers tel) «
wer to Und
2
world spare, Te op rex se
à E
re SF Bob ”
About coord”
v um ral positon ned ent
Bare,
consis)

ficos position of
evo e phutos Uke y

57. O 2b0 2 rotword/pirext Hinomahtt
2boF coward [pivext Anomatılz

> TE
> General Rua
| O Argie taken fom Aw AO
2) sing, — sy
“eos, —s cy

“Sin(9,+0,) > Er. ki
; 7 CoatB1+82) > un LA
Bu Lu bo Gire A :
Unk 1 € urgth weil be 6 Len deca fos
Link 2 mere An
J 1
1 hola UAlwaj)
6 A 18
_ à ps porden 61,02 Loir
9,=01 S to le) ay a ere
91 lo: bla — Paratel ire. Di

o y pod

+ spc

58. wes) Find owt

ye
(6) = 0,+ 02
4 + ol
Giron Oyen
- — HAD
O x= OAT AB
> dA= Liws8, = LLC
AR = dy cos $
a = 1 cos (bit 82)
Mou cb = Lt
d = El

ove di sind,
tps 2 sing = A2sini0rto.) = So

59. O : phe | Forword nemo! "A
For 2 D0F 0

ee
E
i>
>
>
M

=
w

© f= rt

© w= on TARt BE
0A= 2 048) = Uy
> AB = Ls (8 +O) = Lit
Be= Ja csg = 43033
Oy = OFFER TFA OER Lsing= AS)
[= Er = D sin lore Or) = 22512 a
FG= 43 An (BIıt@>+ 63) = $3513 u

60. Reverse [Invewe Kinema Us

x-—
Cabe-l 2b0F
— Giendata Fira out

y hb? e 9, 92
LAVER YT
TAR >
World SPAR Ne O

61. ,

,

,

dy
o
Pr -Q | sf a.
—

EEN A

oa 258 opts 8624082
um DOBB, 7 / = x24 42 1

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