1. OVERVIEW OF ROBOTICS

1.1 AUTOMATION AND ROBOTS

1.2 ROBOTS CLASSIFICATION

a) classified according to Drive Technologies

• Electric - DC servo motors or DC stepper motors.
• Hydraulic - for manipulation of substantial loads.

b) classified according to Work-Envelope Geometries

The gross work envelope of a robot is defined as the locus of points that can be reached

by the wrist.

Two basic types of joints :

• Revolute joints (R) exhibit rotary motion about an axis. They are the most common type of joint.
• Prismatic joints (P), exhibit sliding or linear motion along an axis.

c) classified according to Motion Control Methods

• point-to-point motion
• continuous-path motion