Standard

AMF 106 Introduction to Robotics

Course Description

Explores basic robotic concepts. Studies robots in typical application environments. Topics include: robot history and fundamentals, robot classification, power sources, robot applications in the workplace, robot control techniques, path control, end of arm tooling, robot operation and robot controllers, controller architecture in a system, robotic language programming, and human interface issues.

Competency Areas		Hours
Robot History and Fundamentals		Class	3
Robot Classification		D. Lab	0
Power Sources		P. Lab/O.B.I.	4
Robot Applications in the Workplace		Credit	4
Robot Control Techniques
Path Control
End of Arm Tooling
Robot Operation and Robot Controllers
Controller Architecture in a System
Robotic Language Programming
Human Interface Issues
Prerequisite:	Program admission
Corequisite:

Course Guide

Competency	After completing this section, the student will:	Hours
		Class	D.Lab	P.Lab/ O.B.I.
ROBOT HISTORY AND FUNDAMENTALS		4	0	0
History of the industry	List early robot-like machines.
	Discuss the impact of key individuals on robotics development.
	Outline early robot development.
	Identify initial robot applications.
The emergence of robots in the 1970s	Outline reasons for the late emergence, including inflation in the 1970s, the development of offshore industries, the development of the microprocessor, and human resistance to the introduction of robots in the workplace.
Definition of robotics	Discuss the Society of Manufacturing.
	Discuss engineers' definition with particular emphasis on the key terms "reprogrammable" and "multifunctional."
Basic robot systems	Discuss the operation and functions of the following components of a basic robot system: mechanical arm, production tooling, external power source, robot controller, permanent storage device, teach station, and vision.
Basic terms	Define accuracy, repeatability, work envelope, degree of freedom, orientation axes, position axes, tool-center point, work cell coordinates, speed, and payload.
ROBOT CLASSIFICATION		4	0	5
Robot arm geometry	Perform a work envelope analysis by coordinate system.
Rectilinear coordinate systems	Discuss position and orientation axes.
	Describe work envelope.
	List advantages and disadvantages of rectilinear coordinate systems.
	List applications of rectilinear coordinate systems.
Spherical coordinate systems	Discuss position and orientation axes.
	Describe work envelope.
	List advantages and disadvantages of spherical coordinate systems.
	List applications of spherical coordinate systems.
Jointed-spherical coordinate systems	Discuss position and orientation axes.
	Describe work envelope.
	List advantages and disadvantages of jointed-spherical coordinate systems.
	List applications of jointed-spherical coordinate systems.
POWER SOURCES		3	0	2
Hydraulic drive	Describe a hydraulic drive power system.
	List types of actuators available for use with this type of system.
	List advantages and disadvantages of hydraulic drive power sources.
Pneumatic drive	Describe a pneumatic power system.
	List types of actuators available for use with this type of system.
	List advantages and disadvantages of pneumatic drive power sources.
Electrical	Describe electrical power systems.
	List types of electrical systems available for use.
	List advantages and disadvantages of electrical power drive systems.
ROBOT APPLICATIONS IN THE WORKPLACE		3	0	2
Assembly applications	Discuss current and anticipated applications of robots in the workplace.
Nonassembly applications	Discuss current and anticipated applications of robots in nonassembly applications.
ROBOT CONTROL TECHNIQUES		1	0	0
Closed-loop systems	Describe closed-loop systems operation. List advantages and disadvantages of closed-loop systems.
Nonservo feedback	Describe nonservo feedback systems operation.
	List advantages and disadvantages of nonservo feedback systems.
PATH CONTROL		3	0	1
Terminology	Define path control.
Stop-to-stop control	Define stop-to-stop control.
	Describe the operation of stop-to-stop control.
	List advantages and disadvantages of stop-to-stop control.
Point-to-point control	Define point-to-point control.
	Describe the operation of point-to-point control.
	List advantages and disadvantages of point-to-point control.
Controlled path control	Define controlled path control.
	Describe the operation of controlled path control.
	List advantages and disadvantages of controlled path control.
Continuous path control	Define continuous path control.
	Describe the operation of continuous path control.
	List advantages and disadvantages of continuous path control.
Controller intelligence	Discuss the relative level of intelligence of low, medium, and high technology robots.
END OF ARM TOOLING		3	0	4
Tooling characteristics	List six characteristics of end of arm tooling.
Intelligence requirements	Discuss intelligence requirements of tooling and the robot.
Standard grippers	Differentiate between angular and parallel grippers.
	List the four standard power sources of grippers (hydraulic, pneumatic, electric, and spring) and appropriate applications of each.
Vacuum powered grippers	Discuss vacuum cups, vacuum suckers, and vacuum surfaces.
	Differentiate among the theory of operation of the three vacuum powered grippers.
Magnetic grippers	Discuss magnetic grippers.
Air pressure grippers	Define and differentiate among pneumatic fingers, mandrel grippers, and pin grippers.
Special purpose grippers	Define special purpose grippers.
Types of tooling	Define special purpose tooling.
	List applications and tools used for the following robot applications: drilling, welding, gluing and sealing, coating and painting, and grinding.
Assembly fixtures and tools	Define compliance.
	List three types of system compliance.
	Describe the operation of an active compliance system.
	Describe device operation and remote center compliance devices in a passive compliance system.
Multiple end effector systems	Define multiple end effector systems.
	List advantages and disadvantages of multiple end effector systems.
Vision and artificial skin	Discuss vision and artificial skin.
ROBOT OPERATION AND ROBOT CONTROLLERS		3	0	4
Robot system reference frames	Define reference frame.
	List five frames of reference.
	List applications of reference frames in robot control.
Open-loop systems	Discuss internal controls in open-loop systems.
	Discuss the following internal positioning mechanisms: fixed hard stops, adjustable hard stops, limit switches, and stepper motors.
	Discuss external controls in open-loop systems.
	Discuss the following external devices for position control: drum controllers, pneumatic logic, and programmable controllers.
	Operate an open-loop system.
Closed-loop systems	Discuss internal controls in closed-loop systems.
	Discuss the theory of operation and the advantages and disadvantages of using the following internal positioning devices: potentiometers, optical encoders, revolvers and synchros, and sonic displacers.
	Discuss external techniques for position control.
	Describe the path control algorithm for the following: point-to-point controlled path, and continuous path.
	Discuss the programming language of the particular system available.
	Describe work cell sensors.
CONTROLLER ARCHITECTURE IN A SYSTEM		2	0	8
Systems	Discuss the following as related to the system to be operated: CPU configurations, memory techniques, robot arm interfaces, and work cell interfaces.
	Use controller architecture in the system to be operated.
ROBOTIC LANGUAGE PROGRAMMING		2	0	10
Instruction codes	Explain program instruction codes. Describe the decimal equivalent of the instruction code.
Programming	Explain stepping through a program entered at a program panel.
	Discuss the specialized robot programming languages including VAL, RAIL, and AML.
	Write sample programs.
	Load a program into a robot.
	Test programs.
	Interpret error messages.
HUMAN INTERFACE ISSUES		2	0	4
Training	Describe operator training requirements.
Resistance to automation	Discuss resistance to automation in industry.
	Discuss the roles of management, individuals, and organized labor in the establishment of F.M.S. environments.

Suggested Resources

Books

Ayres, R. U. (1984). Robotics: Applications and social implications. Harvard Square, MA: Ballinger.

CIM Systems Staff. (1985). Survey of industrial robots (2nd ed.). Richardson, TX: Author.

Dorf, R. C. (1983). Robotics and automated manufacturing. Englewood Cliffs, NJ: Prentice Hall.

Engleberger, J. F. (1983). Robotics in practice: Management and applications of robotics in industry. New York: AMACOM.

Goldberg, J. (1985). Electronic servicing of robotic equipment. Englewood Cliffs, NJ: Prentice Hall.

Groover, M. P. (1987). Automation, production systems, and computer-integrated manufacturing. Englewood Cliffs, NJ: Prentice Hall.

Hartley, J. (1983). Robots at work: A practical guide for engineers and managers. New York: Elsevier.

Holland, J. M. (1983). Basic robotic concepts. City, State: Publisher.

Hunt, D. V. (1983). Industrial robotics handbook. New York: Industrial Press.

Kafrissen, E., & Stephen, M. (1984). Industrial robotics and robotics. Englewood Cliffs, NJ: Prentice Hall.

Moravec, H. P. (1981). Robot rover visual navigation. Ann Arbor, MI: Bks Demand UMI.

Morgan, C. (1985). Using robots. New York: Springer-Verlag.

Muellaer, T. (1984). Automated guided vehicle systems. New York: Springer-Verlag.

Osborne, D. M. (1984). Robots: An introduction to basic concepts and applications (Vol. 1). Detroit: Midwest Sci-Tech.

Osborne, D. M. (1984). The application of robots to practical work (Vol. 2). Detroit: Midwest Sci-Tech.

Paul, R. P. (1981). Robot manipulators: Mathematics, programming, & control. Cambridge, MA: MIT Press.

Peake, C. (1981). Let's discuss robots. New York: Gardner.

Pugh, A. (Ed.). (1985). Robot vision. New York: Springer-Verlag.

Rehg, J. A. (1985). Introduction to robotics: A systems approach. Englewood Cliffs, NJ: Prentice Hall.

Robillard, M. J. (1983). Microprocessor based robotics. Ann Arbor, MI: Robot InstAm.

Rooks, B. (1983). Decade of robotics. Corning, NY: Air Sci Co.

Rooks, B. (1983). Developments in robotics. Corning, NY: Air Sci Co.

Safford, E. L. (1982). Handbook of advanced robotics. Blue Ridge Summit, PA: TAB.

Snyder, E. W. (1985). Industrial robots: Computer interfacing and control. Englewood Cliffs, NJ: Prentice Hall.

Susnjara, K. (1983). A manager's guide to industrial robots. Englewood Cliffs, NJ: Prentice Hall.

Tanner, W. R. (Ed.). (1981). Industrial robots (Vol. 1) (2nd ed.). Ann Arbor, MI: Bks Demand UMI.

Tanner, W. R. (Ed.). (1981). Industrial robots (Vol. 2) (2nd ed.). Ann Arbor, MI: Bks Demand UMI.

Technical DataBase Corporation. (1983). Robotics industry directory. City, State: Publisher.

Tver, D. F., & Bolz, R. W. (1983). Robotics sourcebook and dictionary. New York: Industrial Press.

Ullrich, R. (1983). The robotics primer. Englewood Cliffs, NJ: Prentice Hall.

Weinstein, M. (1981). Android design: Practical approaches for robot builders. Carmel, IN: Hayden.

Magazines

High Technology

Journal of Robotic Systems

Manufacturing Engineering

Robotics Age

Robots in Industry

Robotics Today

Robotics World

Newsletters

Automation News

Industrial Robots International

Robot Insider

Robotica