Industrial robotics
How it works
An industrial robot consists of a multi-degree-of-freedom manipulator driven by servomotors and governed by a dedicated controller. Motion is programmed by teaching points with a teach pendant, through offline programming or from a CAD model; the controller converts Cartesian coordinates into individual joint angles (inverse kinematics) and drives the axes in a closed feedback loop using encoders. An end-effector (gripper, welding torch or process head) suited to the task is mounted at the wrist. Sensors (force, vision, proximity) together with guarding or collaborative operating modes provide safety and, in newer deployments, adaptation to a changing environment.
Problem solved
Manual mass production is slow, costly and error-prone, and exposes workers to injury in repetitive, heavy or hazardous tasks. Industrial robotics automates these operations, delivering high repeatability, throughput and consistent quality while improving workplace safety.
Components
A chain of rigid links connected by joints with several degrees of freedom, ending in a wrist onto which a tool is mounted.
The compute unit that executes the motion program, inverse kinematics and closed-loop axis control.
Motors (typically servo) with gearing and encoders that provide precise, repeatable motion of each axis.
A task-specific device mounted at the wrist: a gripper, welding torch, vacuum cup, dispensing head, etc.
Encoders, force/torque, proximity and vision sensors enabling control, positioning and safety.
Cameras and software (increasingly using machine learning) for locating, recognizing and inspecting objects.
Guarding, light curtains, area scanners and collaborative operating modes compliant with ISO 10218 and ISO/TS 15066.
A lightweight robot with speed/force limiting and sensing, designed for direct cooperation with an operator without full guarding.
Implementation
Industrial robots can cause serious injury; inadequate risk assessment and guarding is a leading cause of accidents.
Near kinematic singularities control becomes unstable, and crowded cells risk collisions.
Traditional cells are tuned to a single task; a product change requires costly reprogramming and retooling.
Evolution
The first industrial robot (Unimation, G. Devol and J. Engelberger) deployed on a General Motors production line.
Hiroshi Makino (University of Yamanashi) builds the first SCARA prototype; industrial deployment from 1981.
A fast parallel robot for pick-and-place, invented in the early 1980s at EPFL and patented in 1990.
J. E. Colgate and M. Peshkin (Northwestern University) introduce the concept of the collaborative robot (cobot).
Universal Robots releases the UR5 — the first commercially viable collaborative robot.
Publication of ISO 10218-1 and ISO 10218-2 defining safety requirements for industrial robots and their integration.
Technical specification ISO/TS 15066 complements the safety requirements for collaborative robot applications.
Integration of machine vision and machine learning enables flexible, adaptive tasks beyond rigid programming.
Hyperparameters (configurable axes)
Number of independent motion axes; typically 4 (SCARA) to 6–7 (articulated robots).
Maximum mass the robot can carry at its wrist.
Maximum distance the end-effector can reach from the base.
Ability to return to the same point repeatedly; critical for assembly and precision tasks.