UNIT 1 _ Embedded system -design steps PPT.pptx

Introduction to embedded system-Build process-design steps

1. Introduction to Embedded Systems and Robotics UNIT -1

2. Embedded System System A system is a way of working, organizing or doing one or many tasks according to a fixed plan, program, or set of rules . A computer is a system that has the following or more components

3. A microprocessor Input units like keyboard, mouse, digitizer, scanner, etc. Output units like video monitor, printer, etc. Networking units like Ethernet card, front-end processor-based drivers , etc. I/O units like a modem, fax cum modem, etc.

4. Embedded System An embedded system is a system that has embedded software and computer hardware, which makes it a system dedicated for an application or specific part of an application or product or a part of a larger system . OR An embedded system is a special-purpose computer system designed to perform one or a few dedicated functions

5. Real Time Syste m Real Time Real-time systems process events, Events occurring on system inputs cause other events to occur as system outputs minimizing response time Soft Real Time Systems- is designed to compute the response as fast as possible but doesn't have an explicit deadline Hard Real Time System - If a deadline is imposed, the system is known as a hard real-time system

6. Classification of Embedded System

7. Classification of Embedded System Small Scale Embedded system: Designed with a single 8 or 16 bit microcontroller and has little software and hardware complexities. Example: Automatic chocolate vending machine, washing machine, children toys etc.,   Medium Scale Embedded system: Designed with a single or few 16 or 32 bit microcontroller and has medium software and hardware complexities. Example: Banking system, video game etc., Large scale Embedded system: Designed with more 32 bit microcontroller and is more complex. Example: Mobile phone, Security products etc.

8. Characteristics of Embedded system Real time and multi rate operations define the ways in which the system works, reacts to events, interrupts and schedules the system functioning in real time. Complex algorithms. Complex graphic user interfaces. Dedicated functions.

9. Constraints of an Embedded System Available system memory. Available processor speed. N eed to limit power dissipation when running the system continuously

10. Components of an Embedded System It embeds hardware similar to a computer . ( CPU, memory and other peripherals) It embeds main application software. It embeds a RTOS (Real Time Operating System) which is optional.

11. Components of Embedded System An embedded system consists of three main components. It embeds hardware similar to a computer . ( CPU, memory and other peripherals) It embeds main application software. It embeds a RTOS (Real Time Operating System) which is optional.

12. Processor A Processor is the heart of the embedded system For an embedded system designer knowledge of microprocessor and microcontroller is must. 2 Essential units: Operations Control Unit Fetch Execution Unit Execution

13. Various Processor General Purpose Processor(GPP) Application Specific System Processor (ASSP) Multi Processor System using GPPs Microprocessor Microcontroller Embedded processor Digital Signal Processor

14. Build Process of Embedded System The process of translating the code that is written by humans to the code that is understandable by the processor is called build process

15. Build Process for Assembly language program

16. An assembler translates the assembly software into machine codes using assembling process. In linking, a linker links these codes with the other codes required. Loader program performs the task of reallocating the codes after finding the physical memory addresses available at a given instant . In the final step , locating these codes as a ROM image. The codes are permanently placed at the addresses actually available in the ROM.

17. Lastly , either ( i ) a laboratory system, called device programmer, takes as input the ROM image file and finally burns the image into the PROM or a flash or (ii) at a foundry, a mask is created for the ROM of the embedded system from the ROM image file. [The process of placing the codes in PROM or flash is also called burning].

18. Build Process for high level language

19. A compiler generates the object codes . It assembles the codes according to the processor instruction set and other specifications. The C compiler for embedded system must, as a final step of compilation, use a code optimizer that optimizes the codes before linking. After compilation, the linker links the object codes with the other needed codes After linking, the other steps for creating a file for ROM image is similar to the build process in assembly language.

20. Design process in embedded system

21. Steps in the Design Process 1 . Abstraction : Each problem component is first abstracted, for example in the design of robotic system, the problem of abstraction can be in terms of control of arms and motors. Steps in Abstraction Requirements: Definition and analysis of system requirement I nputs and outputs, Functioning design metrics and validation requirements for finally developed system specifications

22. Specifications: The designer needs specifications for Hardware data types and processing expected system behavior constraints of design expected life cycle.

23. Architecture It consists of hardware and software architectural layers. Software architecture layers are: Architectural design Data design Interface design.

24. Components The various components of hardware are: Processor, ASIP and single purpose processor in the system. Memory RAM, ROM or internal or external flash or secondary memory in the system. Peripherals and devices internal and external to the system. Ports and buses in the system. Power source or battery in the system.

25. System Integration: Built components are integrated in the system. The system is made to function and validated. Hardware and Software Architecture . Architectures should be well understood before a design. 3. Extra functional properties: Extra functionalities required in the system being developed should be well understood from the design. 4. System related family of design: Families of related systems developed earlier should be taken into consideration during designing.

26. 5 . Modular design : Modular design concept should be used. Effective modular design should ensure effective i ) Function Independence ii) Cohesion iii) Coupling. 6. Mapping: Mapping into various representation is done from software requirements. 7. User Interface design: User interfaces are designed as per user requirements, analysis of the environment and system functions. 8. Refinements: Each component and module design needs to be refined iteratively till it becomes the most appropriate for implementation by the software team.

27. 1.3 Design example: Model train controller In order to learn how to use UML to model systems, we will specify a simple system, a model train controller The user sends messages to the train with a control box attached to the tracks. The control box have controls such as a throttle, emergency stop button, and so on. Also it can send signals to the train over the tracks by modulating the power supply voltage. The control panel sends packets over the tracks to the receiver on the train. The train includes analog electronics to sense the bits being transmitted and a control system to set the train motor’s speed and direction based on those commands. Each packet includes an address so that the console can control several trains on the same track . The packet also includes an error correction code (ECC) to guard against transmission errors. This is a one-way communication system the model train cannot send commands back to the user. 21

28. Design example: Model train controller(Contd.) 1. Requirements : 🠶 The console shall be able to control up to eight trains on a single track. 🠶 The speed of each train shall be controllable by a throttle to at least 63 different levels in each direction (forward and reverse). 🠶 There shall be an inertia control that shall allow the user to adjust the responsiveness of the train to commanded changes in speed. Higher inertia means that the train responds more slowly to a change in the throttle, simulating the inertia of a large train. The inertia control will provide at least eight different levels. 🠶 There shall be an emergency stop button. 🠶 An error detection scheme will be used to transmit messages.

29. Design example: Model train controller(Contd.) Requirement form 23

30. Design example: Model train controller(Contd.) 2. DCC(Digital Command Control ) 🠶 The DCC standard was created by the National Model Railroad Association to support interoperable digitally controlled model trains. 🠶 DCC was created to provide a standard that could be built by any manufacturer so that hobbyists could mix and match components from multiple vendors. DCC Documents: 🠶 The DCC standard is given in two documents : 🠶 Standard S-9.1 , the DCC Electrical Standard, defines how bits are encoded on the rails for transmission . 🠶 Standard S-9.2 , the DCC Communication Standard, defines the packets that carry information. DCC Electrical standard: 🠶 The Electrical Standard deals with voltages and currents on the track. 🠶 The key requirement is that the data signal should not change the DC value of the rails. 🠶 The data signal swings between two voltages around the power supply voltage. 24

31. Design example: Model train controller(Contd.) 🠶 The bits are encoded in the time between transitions, not by voltage levels. 🠶 A is at least 100 μs while a 1 is nominally 58 μs . 🠶 The durations of the high (above nominal voltage) and low (below nominal voltage) parts of a bit are equal to keep the DC value constant. DCC Communication Standard: 🠶 The DCC Communication Standard describes how bits are combined into packets 🠶 We can write the basic packet format as a regular expression : 🠶 P: preamble = 1111111111; S: packet start bit = 0; A: address data byte; s: data byte start bit. D : data byte (data payload); E: packet end bit = 1. DCC packet types 🠶 Baseline packet: minimum packet that must be accepted by all DCC implementations . 🠶 Address data byte gives receiver address . 🠶 Instruction data byte gives basic instruction . 🠶 Error correction data byte gives ECC.

32. Design example: Model train controller(Contd.) 3. Conceptual specification: 🠶 A conceptual specification allows us to understand the system a little better. Before we create a detailed specification, we will make an initial, simplified specification. 🠶 A train control system turns commands into packets. A command comes from the command unit while a packet is transmitted over the rails. 🠶 Commands and packets may not be generated in a 1-to-1 ratio. In fact, the DCC standard says that command units should resend packets in case a packet is dropped during transmission. Class diagram for the train controller commands

33. Design example: Model train controller(Contd.) 🠶 There are clearly two major subsystems: the command unit and the train-board component. 🠶 Each of these subsystems has its own internal structure. The basic relationship between them isillustrated UML collaboration diagram 🠶 Let’s break down the command unit and receiver into their major components. 🠶 The console needs to perform three functions: read the state of the front panel on the command unit, format messages, and transmit messages. 🠶 The train receiver must also perform three major functions: receive the message, interpret the message and actually control the motor . 27

34. Likewise, the Receiver class knows how to turn the analog signals on the track into digital form. 🠶 The Console class describes the command unit’s front panel, which contains the analog knobs and hardware to interface to the digital parts of the system. 🠶 The Formatter class includes how to read the panel knobs and creates a bit stream for the required message . Controller class includes behaviors that interpret the commands and figures out how to control the motor. Design example: Model train controller(Contd.); UML class diagram for the train controller showing the composition of the subsystems. 28

35. The Motor interface class defines how to generate the analog signals required to control the motor. Two classes to represent analog components: 🠶 Detector detects analog signals on the track and converts them into digital form. 🠶 Pulser turns digital commands into the analog signals required to control the motor speed. Transmitter class interfaces to analog electronics to send 🠶 message along the track. Special classes that represent analog components are Knobs describes the actual analog knobs, buttons, and levers on the control panel. Sender describes the analog electronics that send bits along the track.

36. Design example: Model train controller(Contd.) 4. Detailed specification: 🠶 Here, we need to define the analog components in a little more detail because their characteristics will strongly influence the Formatter and Controller . The Panel has three knobs: train number (which train is currently being controlled), speed and inertia. It also has one button for emergency stop. We also want to reset the other controls to the proper values for that train so that the previous train’s control settings are not used to change the current train’s settings. The motor system takes its motor commands in two parts. The Sender and Detector classes are relatively simple: They simply put out and pick up a bit, respectively. 🠶 🠶 To understand the Pulser class, let’s consider how we actually control the train motor’s speed. 29

37. 🠶 The speed of electric motors is commonly controlled using pulse-width modulation 🠶 The digital interface to the motor system specifies that pulse width as an integer, with the maximum value being maximum engine speed. A separate binary value controls direction. Class diagram for the panel and motor interface: 🠶 These classes form the software interfaces to their respective physical devices. 🠶 The Panel class defines a behavior for each of The controls on the panel. 🠶 The Motor-interface defines an attribute for speed that can be set by other classes. 30 Design example: Model train controller(Contd.)

38. o Class diagram for the Transmitter and Receiver : 🠶 The Transmitter and Receiver classes provide the software interface to the physical devices that send and receive bits along the track . 🠶 The Transmitter provides a distinct behavior for each type of message that can be sent and it internally takes care of formatting the message . 🠶 The Receiver class provides a readcmd behavior t read a message off the tracks. Class diagram for the Formatter class : 🠶 The formatter holds the current control settings for all of the trains . 🠶 The send-command method is a utility function that serves as the interface to the transmitter . 🠶 The operate function performs the basic actions for the object. Design example: Model train controller(Contd.)

39. 🠶 The role of the formatter during the panel’s operation is illustrated by this sequence diagram 🠶 The figure shows two changes to the knob settings: first to the throttle, inertia, or emergency stop; then to the train number. 🠶 The panel is called periodically by the formatter to determine if any control settings have changed. 32 Design example: Model train controller(Contd.)

40. er 🠶 The behaviour of the operation is given by state diagram State diagram for the formatter operate behaviour : 🠶 This behaviour watches the panel for activity: If the train numb changes, it updates the panel display; otherwise, it causes the required message to be sent. Class diagram for the Controller class: The definition of the train’s Controller class is shown . 🠶 The operate behavior is called by the receiver when it gets a new command; operate looks at the contents of the message and uses the issue-command behavior to change the speed, direction, and inertia settings as necessary. A specification (State diagram for controller operate behaviour ) for operate is shown below Design example: Model train controller(Contd.)

41. State diagram for the panel-activate behavior: 34 Design example: Model train controller(Contd.)

42. 🠶 The operation of the Controller class during the reception of a set-speed command is shown 🠶 The Controller ’s operate behavior must execute several behaviors to determine the nature of the message. Once the speed command has been parsed, it must send a sequence of commands to the motor to smoothly change the train’s speed . 35 Design example: Model train controller(Contd.)

43. 🠶 There are three important issues . 🠶 First, we need to specify the number of bits used to determine the message type. We choose three bits because that gives us five unused message codes . 🠶 Second, we need to include information about the length of the data fields, which is determined by the resolution for speeds and inertia set by the requirements . 🠶 Third, we need to specify the error correction mechanism; we choose to use a single parity bit. 3 5 Refining command class Design example: Model train controller(Contd.)

44. ROBOTICS

45. What is Robotics? Robotics is the branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. The word robotics was first used in 1941 by the writer Isaac Asimov.

46. Different Branches Occupied in the Development of Robotics: Robotics in contrast to other branches is a reasonably new domain of engineering. It is a multi-disciplinary domain. The different branches occupied in the development of Robotics are :- Mechanical Engineering : Deals with the machinery & structure of the Robots. Electrical Engineering : Deals with the controlling & intelligence (sensing) of Robots. Computer Engineering : Deals with the movement development and observation of Robots. BRANCHES INVOLVED IN ROBOTICS

47. 04-08-2024 48 Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronic engineering, information engineering, computer science, and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. Robotics is a branch of engineering that involves the conception, design, manufacture, and operation of robots . DEFINITION-ROBOTICS

48. 04-08-2024 49 Robotics institute of America defines a robot as a “programmable, multifunction manipulator designed to Move materials, parts, tools or special devices through variable programmed motions for the performance of the variety of task”. DEFINITION-ROBOTS

49. The Advantages of Robots Perform the defined tasks with speed and accuracy Give us information that we can’t Don’t get bored Work at any time without salary or food Can work in dangerous environment Can do many tasks at the same time Don’t need experience

50. The Disadvantages of Robots Can’t respond in emergencies Cost a lot of money Replace human workers Need a huge power supply

51. Future of Robotics Every person will have a robot at home Robots will do all the household tasks Robots will take care of children and elderly Nanorobots will be made The whole army will be composed of robots Robots will perform surgeries Robot brains that are based on computers can be ordered 100 trillion instructions per second will be made

52. 04-08-2024 53 Automation is the technique, method, or system of operating or controlling a process by highly automatic means, as by electronic devices, reducing human intervention to a minimum. A mechanical device, operated electronically, that functions automatically, without continuous input from an operator. (OR) Automation is a technology that is concerned with the use of electronic, mechanical and computer based system in the operation control and production. The definition of automation is the use of machines and technology to make processes run on their own without manpower. DEFINITION-AUTOMATION

53. 04-08-2024 54 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’

54. 04-08-2024 55 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’ The main difference between robotics and automation is that, robots are a piece of equipment that can perform a variety of tasks with programming, whilst be spoke automation is a term that is used for special purpose machines or systems that are designed to perform a specific task.

55. 04-08-2024 56 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’

56. ORIGIN OF ROBOTS 04-08-2024 57

57. Da Vinci sketched the first humanoid robot in 1495 George Devol and Joseph Engelberger formed the world’s first robot company in 1956 Unimate, the first industrial robot was designed in 1961 The Soviet Union launches the first artificial orbiting satellite in 1957 The first artificial robotic arm to be controlled by computer was designed at Rancho Los Amigos Hospital in Downey in 1963 Neil Armstrong became the first human to land on the moon in 1969

58. First mobile robot controlled by artificial intelligence was designed in 1970 Mars Pathfinder’s sojourner rover landed on Mars for the first time in 1977 Honda debuts a new humanoid robot called Asimo in 2002 Epsom release the smallest known robot helicopter in 2004 The Roomba robotic vacuum cleaner has sold over 2.5 million units in 2008

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66. Robots are categorized depending upon the circuits of the Robots and the variety of application it can perform. The robots are classified into three types : Simple level Robots-  These are automatic machines which do not contain complex circuit. They are developed just to extend human potential. For Example- Washing Machine. Middle level Robots – These robots are programmed but can never be reprogrammed. These robots contain sensor based circuit & can perform multiple tasks. For Example- Fully Automatic Washing Machine. Complex level Robots-  These robots are programmed and can be reprogrammed as well. They contain complex model based circuit. For Example- Laptop or Computer. CLASSIFICATION OF ROBOTS 04-08-2024 72

67. Classification by Degrees of Freedom Degrees of freedom refers to the different directions a robotic arm can move.  They represent the location as well as the orientation of an object. Basically, such type of robots is pick and place robots, which pick and place the objects on a location and with an orientation . 3 Degrees of Freedom: A robot with 3 degrees of freedom can only pick up the object and place it anywhere in its workspace, using the 3 different coordinate axes. 6 Degrees of Freedom: A robot with 6 degrees of freedom can pick the object and place it anywhere in its workspace, at any orientation. CLASSIFICATION OF ROBOTS 04-08-2024 73

68. 04-08-2024 74 Japanese Industrial Robot Association (JIRA) : “A device with degrees of freedom that can be controlled .” Class 1 : Manual handling device Class 2 : Fixed sequence robot Class 3 : Variable sequence robot Class 4 : Playback robot Class 5 : Numerical control robot Class 6 : Intelligent robot CLASSIFICATION OF ROBOTS

69. 04-08-2024 75 Classification as per Application Industria l: Industrial robots are generally fixed manipulators which perform in various working environments. They perform various general-purpose tasks like Welding, Painting, machining, etc.  In fact, the first robots were the industrial robots which were used for simple repetitive tasks . Non-Industrial or Special Purpose: These are robots which assist humans in their chores Medical: There has been an increasing use of robots in the medical field for surgery, rehabilitation and training. Medical robots are not meant to replace the surgeons but serve as a surgical assistant to the surgeon. Space: With the advent of robotic technologies, exploration of various celestial bodies has been a reality.  Tasks like space manipulation, surface mobility and scientific experiments are performed by space robots. CLASSIFICATION OF -ROBOTICS

70. 04-08-2024 76 Defence Robots: These include bomb disposal robots, transportation robots and reconnaissance drones. Equipped with infrared sensors, these robots react more rapidly than humans in emergency and hazardous situations. Security: These robots are used for surveillance and guarding large civilian facilities such as Power generating plants, oil refineries, etc which are under threat from terrorists. An example is DRDO’s NETRA (An Unmanned Aerial Vehicle) Domestic: These robots are used to perform daily tasks at home, such as robotic vacuum cleaner, cleaning robots. Entertainment: These robots are used in various entertainment places like amusement parks, joy rides, sports, etc. Examples include KUKA Robocoaster (amusement ride robot), Honda’s Asimo , Sony’s Aibo , etc. CLASSIFICATION OF -ROBOTICS

71. 2004 77 ROBOT CLASSIFICATION Classification Based on Physical Configuration: 1. Cartesian configuration 2. Cylindrical configuration 3. Polar configuration 4. Joint-arm configuration

72. 04-08-2024 78 Classification as per kinematic structure Articulated   - This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints. Each joint is called an axis and provides an additional degree of freedom, or range of motion. Industrial robots commonly have four or six axes. Cartesian  - These are also called rectilinear or gantry robots. Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints deliver a linear motion along the axis. Cylindrical  - The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope. CLASSIFICATION OF -ROBOTICS

73. 04-08-2024 79 Classification as per kinematic structure Polar - Also called spherical robots, in this configuration the arm is connected to the base with a twisting joint and a combination of two rotary joints and one linear joint.  The axes form a polar coordinate system and create a spherical-shaped work envelope. SCARA   - Commonly used in assembly applications, this selectively compliant arm for robotic assembly is primarily cylindrical in design. It features two parallel joints that provide compliance in one selected plane. Delta -  These spider-like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single EOAT in a dome-shaped work area. Heavily used in the food, pharmaceutical, and electronic industries, this robot configuration is capable of delicate, precise movement. CLASSIFICATION OF -ROBOTICS

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75. 2004 81 ROBOT CLASSIFICATION Classification Based on Control Systems: 1. Point-to-point (PTP) control robot 2. Continuous-path (CP) control robot 3. Controlled-path robot

76. 2004 82 Point to Point Control Robot (PTP): The PTP robot is capable of moving from one point to another point. The locations are recorded in the control memory. PTP robots do not control the path to get from one point to the next point. Common applications include: component insertion spot welding hole drilling machine loading and unloading assembly operations

77. 2004 83 Continuous-Path Control Robot (CP): The CP robot is capable of performing movements along the controlled path. With CP from one control, the robot can stop at any specified point along the controlled path. All the points along the path must be stored explicitly in the robot's control memory. Applications Straight-line motion is the simplest example for this type of robot. Some continuous-path controlled robots also have the capability to follow a smooth curve path that has been defined by the programmer. In such cases the programmer manually moves the robot arm through the desired path and the controller unit stores a large number of individual point locations along the path in memory ( teach-in ).

78. 2004 84 Continuous-Path Control Robot (CP): Typical applications include: spray painting finishing gluing arc welding operations

79. 2004 85 Controlled-Path Robot: In controlled-path robots, the control equipment can generate paths of different geometry such as straight lines, circles, and interpolated curves with a high degree of accuracy. Good accuracy can be obtained at any point along the specified path. Only the start and finish points and the path definition function must be stored in the robot's control memory. It is important to mention that all controlled-path robots have a servo capability to correct their path.

80. 04-08-2024 86 Engineers and scientists have analyzed the evolution of robots, marking progress according to robot generations . First Generation Robots Second generation robots Third generation robots Fourth genrataion robots GENERATION OF ROBOTS

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82. 04-08-2024 89 A first-generation robot is a simple mechanical arm. These machines have the ability to make precise motions at high speed, many times, for a long time . Such robots find widespread industrial use today. First-generation robots can work in groups, such as in an automated integrated manufacturing system (AIMS), if their actions are synchronized. The operation of these machines must be constantly supervised, because if they get out of alignment and are allowed to keep working, the result can be a series of bad production units FIRST GENERATION

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87. 04-08-2024 94 A second-generation robot has rudimentary machine intelligence. Such a robot is equipped with sensors that tell it things about the outside world. These devices include pressure sensors, proximity sensors, tactile sensors, radar, sonar, ladar , and vision systems. A controller processes the data from these sensors and adjusts the operation of the robot accordingly. SECOND GENERATION

88. 04-08-2024 95 These devices came into common use around 1980. Second-generation robots can stay synchronized with each other, without having to be overseen constantly by a human operator. Of course, periodic checking is needed with any machine, because things can always go wrong; the more complex the system, the more ways it can malfunction SECOND GENERATION

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91. 04-08-2024 98 The concept of a third-generation robot encompasses two major avenues of evolving smart robot technology: the autonomous robot and the insect robot. An autonomous robot can work on its own. It contains a controller, and it can do things largely without supervision, either by an outside computer or by a human being. A good example of this type of third generation robot is the personal robot about which some people dream. THIRD GENERATION

92. 04-08-2024 99 There are some situations in which autonomous robots do not perform efficiently. In these cases, a fleet of simple insect robots, all under the control of one central computer, can be used. These machines work like ants in an anthill, or like bees in a hive . While the individual machines lack artificial intelligence (AI), the group as a whole is intelligent. THIRD GENERATION

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95. 04-08-2024 102 Fourth generation and beyond Any robot of a sort yet to be seriously put into operation is a fourth generation robot. Examples of these might be robots that reproduce and evolve, or that incorporate biological as well as mechanical components. Past that, we might say that a fifth-generation robot is something no one has yet designed or conceived. FOURTH GENERATION

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98. 04-08-2024 105 Degrees of freedom, in a mechanics context, are specific, defined modes in which a mechanical device or system can move. The number of degrees of freedom is equal to the total number of independent displacements or aspects of motion. No of degrees of freedom=No of joints A machine may operate in two or three dimensions but have more than three degrees of freedom. The term is widely used to define the motion capabilities of robots. DEGREE OF FREEDOM

99. 04-08-2024 106 Each joint or axis on the robot introduces a degree of freedom. Each DOF can be a slider, rotary, or other type of actuator . The number of DOF that a manipulator possesses thus is the number of independent ways in which a robot arm can move. Industrial robots typically have 5 or 6 degrees of freedom. DEGREE OF FREEDOM

100. Degrees of Freedom Degrees of freedom (DOF) is a term used to describe a robot’s freedom of motion in three dimensional space —specifically, the ability to move forward and backward, up and down, and to the left and to the right. For each degree of freedom, a joint is required. A robot requires minimum six degrees of freedom to be completely versatile. Its movements are clumsier than those of a human hand, which has 22 degrees of freedom Fundamental of Robotic Manipulator 107

101. The number of degrees of freedom defines the robot’s configuration. For example, many simple applications require movement along three axes: X, Y, and Z. See Figure 2-10. These tasks require three joints, or three degrees of freedom Fundamental of Robotic Manipulator 108

102. 04-08-2024 109 MANIPULATOR DEGREE OF FREEDOM

103. 04-08-2024 110 SIX DEGREE OF FREEDOM ROBOT

104. 2004 111 DOF degree s- o f- freedo m: the number of independent motions a device can make. (Also called mobilit y) five degree s of freedom ROBOTICS TERMİNOLOGY

105. 2004 112 Manipulator : Electromechanical device capable of interacting with its environment. Anthropomorphic : Like human beings. ROBONAUT (ROBOtic astroNAUT), an anthropomorphic robot with two arms, two hands, a head, a torso, and a stabilizing leg. ROBOTICS TERMİNOLOGY

106. 2004 113 End - effector : The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks. Robotics Terminology

107. 2004 114 Workspace : The volume in space that a robot’s end-effector can reach, both in position and orientation. A cylindrical robots’ half workspace Robotics Terminology

108. 2004 115 Position : The translational (straight-line) location of something. Orientation : The rotational (angle) location of something. A robot’s orientation is measured by roll , pitc h, and yaw angles. Link : A rigid piece of material connecting joints in a robot. Joint : The device which allows relative motion between two links in a robot. A robot joint Robotics Terminology

109. 2004 116 Kinematics : The study of motion without regard to forces. Dynamics : The study of motion with regard to forces. Actuator : Provides force for robot motion. Sensor : Reads variables in robot motion for use in control. Robotics Terminology

110. 2004 117 Speed The amount of distance per unit time at which the robot can move, usually specified in inches per second or meters per second. The speed is usually specified at a specific load or assuming that the robot is carrying a fixed weight. Actual speed may vary depending upon the weight carried by the robot. Load Bearing Capacity The maximum weight-carrying capacity of the robot. Robots that carry large weights, but must still be precise are expensive. Robotics Terminology

111. 2004 118 Accuracy The ability of a robot to go to the specified position without making a mistake. It is impossible to position a machine exactly. Accuracy is therefore defined as the ability of the robot to position itself to the desired location with the minimal error (usually 25 m m ). Repeatability The ability of a robot to repeatedly position itself when asked to perform a task multiple times. Accuracy is an absolute concept, repeatability is relative. A robot that is repeatable may not be very accurate, visa versa. Robotics Terminology

112. 2004 119 Robotics Terminology

113. BLOCK DIAGRAM OF ROBOT

114. 2004 121 BLOCK DIAGRAM OF ROBOT

115. 2004 122 THE ROBOTIC JOINTS The Robot Joints is the important element in a robot which helps the links to travel in different kind of movements. A joint in an industrial robot is similar to that in a human body. It provides with a relative motion between two parts. Most have industrial joints have mechanical joints which can be classified into five types .

116. 2004 123 THE ROBOTIC JOINTS A robot joint is a mechanism that permits relative movement between parts of a robot arm. The joints of a robot are designed to enable the robot to move its end-effector along a path from one position to another as desired. They include two types that provide linear motion and three types that provide rotary motion

117. 2004 124 Classification of Robotic Joints These degrees of freedom, independently or in combination with others, define the complete motion of the end-effector. These motions are accomplished by movements of individual joints of the robot arm. The joint movements are basically the same as relative motion of adjoining links. Depending on the nature of this relative motion, the joints are classified as P rismatic/Translational motion Revolute / Rotational motion

118. 2004 125 PRISMATIC JOINT In a prismatic joint , also known as a sliding or linear joint (L), the links are generally parallel to one

119. 2004 126 Revolute joints Revolute joints permit only angular motion between links. Their variations include: Rotational joint (R) Twisting joint (T) Revolving joint (V)

120. 2004 127 TYPES OF ROBOTIC JOINTS

121. 2004 128 TYPES OF ROBOTIC JOINTS

122. 2004 129 TYPES OF ROBOTIC JOINTS There are five types of joints in robots. They are Linear Joint (Type L) Orthogonal Joint (Type O) Rotational Joint (Type R) Twisting Joint (Type T) Revolving Joint (Type V)

123. 2004 130 TYPES OF ROBOTIC JOINTS

124. 2004 131 1. LINEAR JOINTS (Type L) Linear joint (type L joint) Linear joint can be indicated by the letter L – Joint. The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel.

125. 2004 132 1. LINEAR JOINTS (Type L) This type of joints can perform both translational and sliding movements. These motions will be attained by several ways such as telescoping mechanism and piston. The two links should be in parallel axes for achieving the linear movement.

126. 2004 133 2 . ORTHOGONAL JOINTS (Type O) Orthogonal joint can be indicated by the letter O – Joint. This is also a translational sliding motion, but the input and output links are perpendicular to each other during the move. The only difference is that the output and input links will be moving at the right angles.

127. 2004 134 3.ROTATIONAL JOINT (Type R) A rotational joint (R type) is identified by its motion, rotation about an axis perpendicular to the adjoining links. Here, the lengths of adjoining links do not change but the relative position of the links with respect to one another changes as the rotation takes place.

128. 2004 135 4. TWISTING JOINT (Type T) A twisting joint (T type) is also a rotational joint, where the rotation takes place about an axis that is parallel to both adjoining links.

129. 2004 136 5. REVOLVING JOINT (Type V) This joint also provide rotational motion. Here , the output link axis is perpendicular to the rotational axis, and the input link is parallel to the rotational axes. As like twisting joint, the output link spins about the input link