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The programmability of the industrial industrial robot using computer software makes it both flexible in the way it works and versatile in the range of tasks it can accomplish. The most generally accepted definition of an industrial robot is a reprogrammable, multi-function manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions to perform a variety of tasks. Industrial robots can be floor-standing, benchtop, or mobile. Industrial robots are classified in ways that relate to the characteristics of their control systems, manipulator or arm geometry, and modes of operation. There is no common agreement on or standardizations of these designations in the literature or among industrial robot specialists around the world. A basic industrial robot classification relates to overall performance and distinguishes between limited and unlimited sequence control. Four classes are generally recognized: limited sequence and three forms of unlimited sequence point-to-point, continuous path, and controlled path. These designations refer to the path taken by the end effector, or tool, at the end of the industrial robot arm as it moves between operations. Another classification related to control is nonservoed versus servoed. Nonservoed implies open-loop control, or no closed-loop feedback, in the system. By contrast, servoed means that some form of closed-loop feedback is used in the system, typically based on sensing velocity, position, or both. Limited sequence also implies nonservoed control while unlimited sequence can be achieved with point-to-point, continuouspath, or controlled-path modes of operation. Industrial robots are powered by electric, hydraulic, or pneumatic motors or actuators. Electric motor power is most popular for the major axes of floor-standing industrial industrial robots today. Hydraulic-drive industrial robots are generally assigned to heavy-duty lifting applications. Some electric and hydraulic industrial robots are equipped with pneumatic-controlled tools or end effectors. The number of degrees of freedom is equal to the number of axes of an industrial robot, and is an important indicator of its capability. Limited-sequence industrial robots typically have only two or three degrees of freedom, but point-to-point, continuous-path, and controlledpath industrial robots typically have five or six. Two or three of those may be in the wrist or end effector. Most heavy-duty industrial robots are floor-standing. Others in the same size range are powered by hydraulic motors. The console contains a digital computer that has been programmed with an operating system and applications software so that it can perform the tasks assigned to it.
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Some industrial robot systems also include training pendants handheld pushbutton panels connected by cable to the console that permit direct control of the industrial robot . The operator or programmer can control the movements of the industrial robot arm or manipulator with pushbuttons or other data input devices so that it is run manually through its complete task sequence to program it. At this time adjustments can be made to prevent any part of the industrial robot from colliding with nearby objects. There are also many different kinds of light-duty assembly or pickand-place industrial robots that can be located on a bench. Some of these are programmed with electromechanical relays, and others are programmed by setting mechanical stops on pneumatic motors.
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The industrial robot can be programmed to perform a wider range of tasks than dedicated automatic machines, even those that can accept a wide selection of different tools. However, the full benefits of an industrial robot can be realized only if it is properly integrated with the other machines human operators, and processes. It must be evaluated in terms of costeffectiveness of the performance or arduous, repetitious, or dangerous tasks, particularly in hostile environments. These might include high temperatures, high humidity, the presence of noxious or toxic fumes, and proximity to molten metals, welding arcs, flames, or high-voltage sources. The modern industrial robot is the product of developments made in many different engineering and scientific disciplines, with an emphasis on mechanical, electrical, and electronic technology as well as computer science. Other technical specialties that have contributed to industrial robot development include servomechanisms, hydraulics, and machine design. The latest and most advanced industrial robots include dedicated digital computers. The largest number of industrial robots in the world are limitedsequence machines, but the trend has been toward the electric-motor powered, servo-controlled industrial robots that typically are floorstanding machines. Those industrial robots have proved to be the most cost-effective because they are the most versatile.
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