Robotics

The term "robot" tends to be used for a class of computer-controlled machines that follows a programmable pattern of behaviour. They are used, for example, as automatic handling devices for paint spraying⁴ and welding.⁵

Automatic handling devices typically have up to six axes of control, three axes of motion in the "hand" for picking or placing the workpiece, three axes of motion to move the workpiece. Five axes of rotation can effectively simulate a human operator's waist, shoulder and elbow rotation, wrist bend and hand rotation. One robot of this type can load up to five numerical control machines grouped around it: similar types can load a lathe.

The simplest and earliest type of robot was a fixed sequence type.⁶ Once set up to do a job they perform it repeatedly. To per­form a different sequence they need re-programming. This is often done by the operator moving the robot's "hand" through the desired sequence, the sequence being recorded in computer memory. In some cases, the sequence can be off-loaded on to tape for storage and subsequent use.'

The type of robot control used can be classified as either point-to-point (ptp) or continuous-path⁸ (cp). Ptp systems do not control the path between the specified points and are typically used in such applications as spot-welding.⁸ Cp systems implement a smooth continuous movement and as a consequence are more sophisticated and costiy.

from a trace of the surface— по проекции поверхности (на экран, плоскость

объектива микроскопа и т. д.)

chart recorder-—самопишущий прибор ' "add-on" systems — дополнительные устройства ' paint spraying—окраска распылением

welding — сварка

a fixed sequence type—тип робота с запрограммированным повторяющимся

циклом движений

can be off-loaded on to tape for storage and subsequent use — может быть

записана на магнитную ленту и сохранена для последующего использования

point-to-point or continuous-path — непрерывное или дискретное (пошаговое)

spot-welding —точечная сварка

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Figure 11. The Cyi.-lon-u.u2 industrial robot

A fixed sequence robot relies on the part to be handled, sprayed, etc. to be in the correct position.' If the part is missing, the robot will either stop or carry on handling "thin air". The typical precision attained is the arm repeating its movement to within 0.1 mm. The load that can be handled is about 4 kg.

The development in robotics is towards adaptive robots having sensory abilities. Initially the requirement is for robots to have a sense of vision and touch.² This will allow a robot to identify the correct part among dissimilar items and pick it up regardless of its position. Robots of this type are being introduced into assembly lines.

The theoretical basis of the work needed to develop sophisti­cated adaptive robots is referred to as "Artificial Intelligence" (AI). A robot's ability to "see", for example, is a problem in "pattern recognition". Problems in this area are concerned more with developing suitable software rather than with building suitable robots.

Although this discussion has centred on industrial robots, robots and robotic principles are being used in unmanned space missions and in deep ocean diving equipment.

' A... robot relies on the part to be handled... to be in the correct position.—

Для работы робота с деталью необходимо, чтобы она находилась в определенном положении. ² Initially the requirement is for robots to have a sense of vision and touch,—

Прежде всего роботы должны видеть и осязать.

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