📘PAPER 3 – ARTIFICIAL INTELLIGENCE & ROBOTICS UNIT 3 – ROBOTICS (university of allahabad)

 

🔴 UNIT 3 – ROBOTICS

(Kinematics, Control & Vision)

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🤖 1. Introduction to Robotics

✅ What is a Robot?

A robot is a programmable electro-mechanical device capable of:

• Sensing environment

• Processing information

• Performing actions automatically

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✅ Definition (Exam Ready)

A robot is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools or devices through variable programmed motions.

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🤖 2. Classification of Robots

🔹 Based on Structure:

1. Cartesian Robot

2. Cylindrical Robot

3. Spherical Robot

4. SCARA Robot

5. Articulated Robot

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🔹 Based on Application:

• Industrial robots

• Medical robots

• Military robots

• Space robots

• Service robots

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🤖 3. Robot Manipulator

A robot manipulator consists of:

• Links

• Joints

• End effector

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🔹 Types of Joints

Joint	Motion
Revolute	Rotation
Prismatic	Linear
Spherical	Multi-axis
Cylindrical	Rotation + translation

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🤖 4. Robot Kinematics

✅ Definition

Kinematics deals with motion of robots without considering forces.

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🔹 Types of Kinematics

1️⃣ Forward Kinematics

• Determines end-effector position from joint values

• Easy to compute

📌 Example:
If joint angles are known → find hand position

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2️⃣ Inverse Kinematics

• Determines joint values from end-effector position

• Difficult to compute

• Multiple or no solutions possible

📌 Used in:

• Robot arm movement

• Industrial automation

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🤖 5. Robot Arm & Wrist Control

🔹 Arm Control

Controls position of robot arm using:

• Joint angles

• Velocity

• Acceleration

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🔹 Wrist Control

Controls:

• Orientation

• Rotation

• Alignment of end-effector

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🤖 6. Trajectory Generation

✅ Definition

Trajectory is the path followed by robot end-effector during motion.

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Types:

1. Point-to-Point (PTP)

2. Continuous Path (CP)

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Importance:

✔ Smooth motion
✔ Accuracy
✔ Energy efficiency

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🤖 7. Robot Control System

Types of Control Systems:

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🔹 1. Open Loop Control

• No feedback

• Simple

• Less accurate

Example: Washing machine timer

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🔹 2. Closed Loop Control

• Feedback present

• High accuracy

• Used in robots

Example: Servo motor

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🤖 8. Linear and Non-Linear Control

🔹 Linear Control

• Simple equations

• Easy to analyze

• Used in basic robots

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🔹 Non-Linear Control

• Complex equations

• High accuracy

• Used in advanced robotics

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🤖 9. Robot Vision System

✅ Definition

Robot vision is the ability of a robot to see and understand images using cameras and sensors.

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Components:

1. Camera

2. Image processor

3. Feature extractor

4. Decision system

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Applications:

• Object detection

• Quality inspection

• Face recognition

• Path planning

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🤖 10. Robot Sensors

🔹 Types of Sensors

Sensor	Function
Position sensor	Detects position
Proximity sensor	Detects nearby object
Vision sensor	Image capture
Touch sensor	Detects contact
Force sensor	Measures force

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🤖 11. Advantages of Robotics

✔ High accuracy
✔ Works in hazardous areas
✔ Increases productivity
✔ Reduces human error

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🤖 12. Applications of Robotics

• Manufacturing

• Medical surgery

• Space exploration

• Military

• Agriculture

• Automation industry

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📌 IMPORTANT EXAM QUESTIONS (UNIT 3)

✅ Explain robot kinematics
✅ Difference between forward and inverse kinematics
✅ Explain robot control system
✅ Write a note on robot vision
✅ Explain robot sensors
✅ Short note on trajectory planning