Movement And Singularities

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Robot movement can be classified into two basic formats: the base travel and the axes control, which includes the arm motion, the wrist action, and the gripping action. These formats are described next.

The travel of the robot refers to the movement of the base. In most case the base of the robot is permanently mounted to the factory floor. However, mounting the base to rails or tracks, thereby making the robot movable, can also regulate the travel of the base. For some jobs, the base may have to be mounted overhead or at a slight angle.

The truck that is used for the base allows the robot to reach positions that require work on the roof of a car. A spray-painting nozzle connected to the gantry-style robot would allow the robot to paint the roof of a car passing ...
... under the gantry.

For some robots, the control of the robot's position is due to a constant feedback from the axes to the controller. This constant update is accomplished through devices known as servo systems, or simply servos. A servo system is a device that provides positional control over the axes of the robot.

The servo contains command pulses that cause the motor to move, a feedback device that converts the positional data of the motor into electric pulses, and a feedback device that sends the positional information back to the robot controller. When the feedback pulses and the command pulses are the same, we say that the servo is in position.

With regard to axis control, robots used in the industrial environment are classified into two areas: non-servo-controlled robots and servo-controlled robots.

(1) Non-Servo-Control. Robots with non-servo-control are identified as bang-bang robots. The movement of these, robots' axes is stopped by a hard mechanical stop (hence the term bang-bang) placed in the travel path. Each time a new axis of travel is used, the robot's hard stops must be changed. These robots can have only three axes, or degrees of freedom: up/down, in/out, and left/right.

(2) Servo-Control. In servo-controlled robots, the servo-control allows the mechanics of the robot to communicate with the electronics of the controller. These robots also are classified as continuous path, servo- controlled robots and point-to-point, servo-controlled robot.

Continuous-path servo-controlled robots allow a smooth path to be traced out by the axes of the robot. Generally, this path is a curved path. These robots require a great deal of memory storage within the controller. The curved path developed by these robots works well in the area of welding, spray painting, and assembly.

The point-to-point serve-controlled robot allows movement of the axes between a starting paint and a preprogrammed ending point. In this robot, all axes move at the same time in order to reach the programmed point.

The movement of this robot in its path of travel is very jerky. Applications for the point-to-point robot are found in machine loading and unloading.

Each of these styles of axes movement can be found in different robots. And in many cases, the point-to-point movement and the continuous-path movement are found in the same robotic package.