Module 1 : Introduction to robotics
Lecture 3 : Industrial Manipulators & AGVs
Tasks Planning for robots
1.
Point to point tasks (PTP): This requires the robot to carry an object from one position to another. The end locations (position and orientation) are known. A simple manipulator for such tasks is the pneumatic manipulator.
2.
 Continuous Path Motion - Painting application are an example where the end effector has to move over a desired curve in space. Painting, being hazardous for manual operation servo controlled electric robots (with fire proof motors) are employed.
3.

Palletizing (soft drink bottles to be placed in a crate). This is a special type of Point to Point task – this occurs when bottles are placed in a crate. See Figure 3.5.1

 


Figure 3.5.1

4.
 Assembly tasks are typically those which involve insertion of a peg into a hole. See Figure 3.5.2
 


Figure 3.5.2: Assembly of parts
 

Stiffness and work space are among the parameters for selecting a robot manipulator. The question as to whether one can position and orient a rigid body in any way in the work space is of importance. In some portion of the workspace called the dexterous work space wherein a high degree of orientation is possible, elsewhere the range of orientation is far less.

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