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Robotics

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Industrial robotics covers programmable mechanical systems that handle, weld, machine, paint, inspect, and assemble at industrial speeds and tolerances. Modern robots add vision, force sensing, and adaptive control.

Overview

A robot cell is more than the robot — it includes the controller, teach pendant, end effector, fixtures, safety system, and integration with the line PLC. The robot is typically <30% of the cell cost.

Robot Types

  • Articulated (6-axis) — most common; high dexterity.
  • SCARA — fast pick-and-place, planar.
  • Delta / parallel — very fast picking, light loads.
  • Cartesian / gantry — large work envelopes.
  • Collaborative (cobot) — force-limited, no fencing.
  • AGV / AMR — mobile material handling.

Kinematics & Coordinates

  • DOF — degrees of freedom; 6 to reach any pose.
  • Forward kinematics — joint angles → TCP pose.
  • Inverse kinematics — TCP pose → joint angles (multi-solution).
  • Frames: World, Base, User, Tool (TCP), Object.
  • Singularities: shoulder, elbow, wrist — slow or stop motion near them.

Programming & Integration

  • Vendor languages: TP/KAREL (FANUC), RAPID (ABB), KRL (KUKA), URScript (UR), Inform (Yaskawa).
  • Offline simulation: RobotStudio, Roboguide, KUKA.Sim, Visual Components, RoboDK.
  • Integration: digital I/O, EtherNet/IP, PROFINET to the cell PLC.
  • Vision integration: Cognex, Keyence, iRVision, Halcon.
  • ROS / ROS 2 for research & mobile platforms.

Safety

  • ISO 10218-1/-2 — robot & integration safety.
  • ISO/TS 15066 — collaborative operation.
  • Risk assessment per ANSI B11.0.
  • Safety-rated stops (Cat 0, 1, 2), safe zones, light curtains.
  • Pendant deadman + e-stop.

Major Vendors

  • FANUC, ABB, KUKA, Yaskawa, Kawasaki, Mitsubishi, Stäubli.
  • Cobots: Universal Robots, Doosan, Techman, FANUC CRX, ABB GoFa.
  • Mobile: MiR, OTTO, Geek+, Locus, Boston Dynamics.
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