Showing posts with label Robotics Engineering. Show all posts
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September 22, 2018
Control system design and operation have improved with the advance of technology, but the basic premises of their functioning and optimization are necessary information for today's engineers. One can think of them as complicated feedback systems, with better brains than they had before.

What is Control System?

In general, a control system is a part of a larger system that manages the behavior of the larger system itself. The control system of a computer is the set of programs in the operating system that interacts with the CPU and peripherals in order to run the computer. In a CNC machine, the control system likely consists of a controller board (logic board) and a number of hydraulic actuators operated by control valve switches.
With the advancement of technology, control systems have become more sophisticated and intelligent. In the old days, mechanical switches were used for controlling a system, and then came relays, then programmable logic controllers (PLCs), microcontrollers, and now, microprocessors.
All the control systems can be broadly classified under two headers: sequential control systems and feedback control systems.

What is a Self-learning Control System?

The self learning or adaptive control system is a kind of advanced intelligent feedback based control system.
○      Actuators: This part of a system actually performs the output function of the system. For example, the pneumatic cylinder of the automatic door closing system is the output system. Hydraulic and pneumatic cylinders, electric and hydraulic motors are used as actuators in most systems.
○      System Performance Parameter Sensors: Performance of the actuators is sensed using these sensors to get the feedback signals about how much deviation exists in actuator performance. Mechanical sensors, laser-based sensors, and proximity sensors are a few names of the huge variety of the sensors used in industry.
○      Environment Parameter Sensors:
○       These sensors are used for monitoring the change in the operating environments. The signals from these sensors help in refining the control parameters otherwise designed for the ideal operating environment.
○      Data Acquisition System: The signals sent by the System Performance Parameter Sensors as well as the Environment Parameter Sensors are collected and converted to useful data or knowledge by the data acquisition system.
○      Knowledge Base: Useful data or knowledge is stored systematically here. As the system matures, the size of the knowledge base increases and so does the efficiency of the self-learning control system.
○      Decision Making System: This is the brain. It sends optimized signals to the actuators based on the knowledge, experience, and present situation.

Applications of Adaptive Self-learning Control Systems

○      Active suspension systems: These intelligent automobile suspension systems use separate actuators to support the suspensions for the individual wheels. When a wheel rolls over a bump in the road, the control system senses it and makes a decision to release some pressure from the actuator connected to that wheel, which in turns allows the suspension of the wheel to rise, without disturbing the rest of car. When one wheel of the car finds a depression or pot hole in the road, the system increases the hydraulic pressure of that actuator in such a way that the actuator pushes the suspension of that wheel downward, and thus the rest of the car don’t get destabilized.
○      Auto-pilot or cruise control systems: The autopilot is an intelligent control system used mainly for aircraft to fly without the need for human interventions. The system continuously monitors the system parameters (like engine speed, vibrations, engine temperature, and airspeed) as well as the environment parameters (like altitude, humidity, and wind speed) and make optimum flying decision continuously. Similar systems are used for spacecraft and ships as well.
○      Adaptive mobile robots: The adaptive control system of intelligent mobile robots helps in acquiring and applying knowledge from the surrounding environment. It learns about things like new obstacles, and the motion of the robot keeps improving.

Conclusion

The self-learning adaptive control system is a kind of advanced intelligent feedback-based control system. It has complex feedback and environment sensors, a decision making system, a knowledge base, and work-producing actuators. The system makes intelligent operating decisions based on the current operating conditions and past experiences. This kind of control system is most suitable for applications where complete prior information of the time-varying control parameters is not possible. For example, the weight of an airplane continuously decreases as the fuel is depleted, thus increasing the range the airplane can fly on the remaining fuel. While designing this kind of system, it must be kept in mind that these applications cannot afford a dysfunctional control system, so system reliability is paramount.


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September 21, 2018
Robots use many resistors on their circuit boards. These resistors are so crucial for electronics that they would not operate without them. Therefore, it is important to know how to identify resistors if one wants to build or analyze an electronic part.
The water supply that is connected to your home comes through a rather large pipe. But the pipe leading to the shower is much smaller. The reason for this is to take up less space and deliver less water to the location. Similarly, resistors limit the flow of electricity in order to reduce waste and efficiently deliver the required amount of electricity to each part.

Obtaining a Resistor Variety Pack

Resistors are extremely valuable, yet inexpensive, so you’ll want to acquire a variety of values. A place to start is with a ½-watt, 5% tolerance, carbon-film variety pack, as is shown below.
The resistor packs in the above table are sufficient for starting. The Jameco #107879 has a cabinet as well, which is always nice.

Understanding Size and Tolerance

It is recommended to begin with the ½-watt through-hole resistors since their size makes it easier to decipher their color-coded bands. It is also fine to use the smaller ¼-watt through-hole resistors. Surface-mount resistors, however, are too small to experiment with, unless you’re experienced, so it’s best not to use them if you’re a beginner.
A 5% tolerance indicates that a 100 Ω resistor could be low as 95 Ω or high as 105 Ω, which is accurate enough for homemade robots. One can purchase the 1% tolerance, which is more expensive, but the robot will not notice the change.

Cutting it Out

Resistors often appear connected together with tape. This is done because they are manufactured in long reels to be fed into robotic part-placement machines. A distributor can purchase a reel and cut different lengths for custom orders.
Peeling off the tape is an option, but residue does remain on the ends of the resistors. This residue can prevent an effective metal-to-metal connection when it comes to prototyping, and can stick to holes and sockets. A better option is to use a wire cutter tool to snip the ends off the resistors from the reel tape.
Such a wire cutter is depicted below. It is advisable that you do not use a scissor instead, as the scissor blades will become dull and may deform.

Resistance and Ohms

Ohms is the unit applied to resistance and is abbreviated with the symbol Ω. Therefore, 100 ohms is exactly the same as 100 Ω. If you can remember that resistance is like the small pipe leading to the shower head, a large Ω indicates larger resistance, or the small pipe.




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September 20, 2018
In order to make robot building even more efficient, you don't only purchase any multimeter, but you can purchase one with extra features that are not typically included in basic multimeters. Although the price will be higher, it is well worth the purchase.
Previously, I wrote about the required features of multimeters for robot building. In this article, I will cover other nice-to-have recommended features that are worth paying the extra for. However, if you’re budget is limited, you can stick with a more basic multimeter. The recommended features make the task of robot building easier and more efficient.

Capacitance

Capacitance is an indication of how many electrons can be stored, and is measured in farads. For robotic purposes, it is recommended to have a capacitance range of 0.000000000020 f to 0.01 F. Although most multimeters do have the capacitance feature, most do not have as wide a range.

Diode

The diode mode is an indication as to how much electrical pressure is needed to turn a semiconductor on, and is measured in volts. For robotic purposes, the diode mode is critical since it can aid us in identifying different types of diodes, and identifying and testing transistors.

Continuity

Continuity is an indication as to whether or not there is an electrical connection between two different points, and is measured in ohms. The continuity feature comes in two forms--audible and inaudible. Audible continuity means that a beep is sounded when an electrical connection exists between two points. Inaudible continuity means that you will have to use the resistance setting, in which you must look at the display instead of listening for a beep.

 Frequency

Frequency is an indication as to how many times something is happening every second, and is measured in hertz. For robotic purposes, it is recommended to have a frequency range of 0.1 Hz to 50,000,000 Hz. Although some multimeters do have a frequency feature, most do not have as wide a range.

Duty Cycle

Duty cycle is an indication as to how frequently a measurement is high as compared to how frequently a measurement is low, and is measured in percentages. For robotics, the duty cycle measurement is crucial for pulse-width modulation. This feature is usually accessed in the frequency mode. Most multimeters do not have the duty cycle feature.

Transistor

The transistor mode gives an indication as to the amount of amplification of a transistor by measuring the hFE. By inserting a transistor into the socket holes, you can determine its bipolar nature, whether npn or pnp. If your multimeter does not have a transistor mode, you can use the diode feature to determine the bipolar nature of a transistor.

 


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September 19, 2018
Manipulation Robotic Systems, an integral part of many industrial manipulators, are mainly divided on the basis of the type of control system they have. Automatic robots, a type of manipulation robotic system, are considered to be one of the earliest robotic systems.
Automatic Type Robots are an integral part of several industrial robotics systems, and are supposed to be the earliest type of robotic system present in the market today. Automatic robots are divided into four main categories, mainly based on their characteristics and application.
Manipulation robotic system can be can be classified into three main types:
○      Autonomous controlled
○      Remotely controlled
○      Manually controlled
An autonomous robotic system is mainly used as industrial robots whereas the remotely controlled robots are used in areas or environments which are inaccessible or harmful to humans. The manually controlled system is used for handling goods or for transportation purposes.
 Classification of Autonomous Robotic system
Out of the three types of manipulation robotic systems, the autonomous system can be further classified into
○      Programmable
○      Non Programmable
○      Adaptive
○      Intelligent

Programmable and Non Programmable Automatic Robots

Out of these, non-programmable robots are of the most basic type. In fact a non-programmable robot is not even considered a robot, but a manipulator devoid of any reprogrammable controlling device. One example of such robots is the mechanical arm used in industries. Non-programmable robots are generally attached to programmable equipment used in manufacturing industries for mass production.
A programmable robot, as the name suggests, is a first generation robot with an actuator with the facility of each of its joints being reprogrammable according to the kind of application. The function and application of the robots can be changed just by reprogramming the robot, however once programmed, they perform a specific function in a fixed sequence and fixed pattern. All the industrial robots are of programmable type which would perform a monotonous motion both in the presence or absence of any part in its grip. The main drawback of this type of robot is that, once programmed, it can be used to hold an object of a specific type and shape and that too placed in a particular position. As this type of robot cannot change its position when required, it is always a bit difficult to use in a changing application system.

Adaptive Robots

Adaptive robots are also industrial robots, but of a kind more sophisticated than programmable robots. Unlike programmable robots, adaptive robots can adapt to a certain extent and, after evaluating a particular situation, perform the action required. In order to enable them to perform these tasks, adaptive robots are equipped with sensors and control system. The sensors sense the change in environmental conditions, and the control system, by assessing the signals from sensors, provides the required motion. Adaptive robots are generally used in situations wherein it is difficult to program a robot to perform actions in a particular pattern due to obstacles or other moving parts. Adaptive robots are used in functions such as welding, spray painting, etc.

Intelligent Robots

Intelligent robots, as the name suggests, are the most intelligent of all types, with several sensors and microprocessors for storing, analyzing, and processing the data. Intelligent robots can perform any kind of work because of their ability to analyze any situation and provide the necessary movement according to that. For this, the system is provided with several manipulators, having their own controllers.






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September 18, 2018
It is anticipated by engineers and scientists that in the near future robots will be seen generally at numerous establishments, including production units, farming, hospitals, maintenance, construction, and in homes. Robots will be able to substitute for individuals in most factories where tasks of extra precision are necessary and production rate is important, which is difficult to be performed correctly by human labor.

General Usage Of Robots In the Future

International experts on robotics are of the view that by year 2020, robots will be capable of observing and performing tasks, talking, and will possess aptitude and intellect. The association of human beings with robots will be ordinary and usual. In the near future, robots will not be a complex machine, but equipment or machinery to be utilized in every day life, including washing, assisting in moving of disabled or injured people, working in factories, etc.

Robotic Surgery

Doctors visualize that in the near future advanced robots will be utilized to assist in carrying out long distance medical treatment including surgery, diagnosis, and other medical treatment. This will enable the treatment to be carried out in a shorter time, and it may not be necessary for the patients to travel long distances, which presently may even involve travel from one continent to another. Robots may also assist in carrying out minor medical treatment, instead of advising a pill for certain ailment, a small robot may be introduced in the blood, which will sense the reason of ailment, and subsequently arrange appropriate medicines in the affected part of the body.

Improvement In Human Brain

Robots will be introduced into parts of human beings, such as intellectual insertion in the brain, which will enhance memory and improve ideas in the mind. Nano robots will even be injected into the blood to wash and scrub blood vessels. The human mind with the assistance of robotic brains will be able to perform 100 trillion commands per second.

Robots In Biomimetics

The next concentration for modern robots will be biomimetics, an area which will concentrate on the manufacture of equipment that obtain guidance from the environment as motivation for their looks and attitude. Presently, broad research is being carried out in this field.





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September 17, 2018
Robots are an essential part of technology today. However, most people overlook the similarities robots have with humans, in terms of a control center and a structure. Two key components of most robots are the brains, in the form of microcontroller chips, and the body.

Introduction

From an anatomical point of view, most robots generally have a brain, a body, a power source, sensors, and action and feedback mechanisms. Specifically, I would like to discuss the brains and body of a robot.

Brains

Robot brains come in a wide variety of forms. In fact, some robots are built without brains and are controlled by people through remote control. Robots can also be built with a brain that is spread out in different parts of the robot. For instance, basic chips can be used to operate individual parts of the robot, such as an arm or leg, with these individual parts working independently of the other parts. Furthermore, robots can be built with brains that are located far away from its body, such as in a computer.
 All things considered, the number one choice for robot brains is the microcontroller chip. Like the microprocessor chips found in computers, microcontrollers are similar, except that microcontroller chips are somewhat like a tiny computer themselves. A small amount of memory and storage space is built directly into the microcontroller chip. When comparing the microprocessor chips found in computers and microcontroller chips, the chips found in computers dedicate their channels to high speed memory connectors, whereas microcontroller chips have a much larger variety of input and output ports. These ports can connect to buttons, sensors, and other devices.
Although it may not seem evident, we are surrounded by microcontrollers. These useful chips are found in vehicles, household appliances such as dishwashers, VCRs, TVs, radios, and other home and work appliances. Fortunately, the high demand for these microcontroller chips has made these chips inexpensive and abundant.

Body

Although the body of a robot may seem unimportant in comparison to the other parts of a robot, many who attempt to build a robot fail to incorporate a framework into their design. Many who build homemade robots end up with robots that are too susceptible due to circuit boards that are exposed and wires sticking out. This usually leads to a robot that either collapses or moves unevenly. A proper frame for a robot not only ensures that the robot stays in one piece, but also protects the robot from injury. An excellent example of the use of a reliable framework is in a production line robot. These robots have special designs that enable them to efficiently operate in environments that most humans would find potentially dangerous. Production line robot design involves a certain number of axes that determines the versatility of the robot. However, it is the kinematics of the assembly line robot that determines the arrangement of the robot. Some parts of the robot are bolted together while others are welded together, allowing for both rigid and dynamic parts in the same robot. It is the kinematics of the framework of a production line robot that defines its purpose, whether for welding car parts together or lifting heavy loads.
Another underestimated aspect of a robot is the visual appeal. Those who desire to take up robot building as a hobby should learn that showmanship is critical in how others will view your robot. Despite the fact that a robot may be technically impressive, the finishing touches to the appearance of the robot is what draws attention. The M&M robot is an example of an attractive and innovative robot body design.

 



 


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September 16, 2018
You must have seen them in movies. You must have read about them in novels. They were fictitious, but currently live. Who are we speaking about? Indeed the humanoid robots! Yes, they are ready to work for you as your servant! Read on to learn more about the Honda Asimo and other robots….

What is ASIMO?

Being an assistant to people was the idea in mind when ASIMO (Advanced Step in Innovative MObility) was being created. ASIMO, which is 4’ 3" or rather 130 centimeters tall, is a perfect helper in and around a house and can also help a person who is restricted to bed or a wheelchair. The size of this robot makes it easier to directly communicate with a person who is either sitting on his/her bed or a chair.
Actually ASIMO is an extremely stylish piece of equipment, technically speaking. As a marketing tool, ASIMO is creating a sensation, assuring a volley of news reporting with each promotion stunt. Honda had in mind selling units as domestic servants when they actually brought out the robot in 2002.
A robot having the capability to walk up and down stairs, clasp objects, and work together with humans looks like an ideal fit for elderly care. Six years later the cost of Asimo still remains at more than $100,000 to rent. The human roboid has not yet made anyone's bed and constitutes just the most recent in a chain of letdowns for future household robots. So with what Asimo can and cannot do, the question is when will this robot get a job?
Isaac Asimov's "Three Laws of Robotics" states that:
1.     A robot may not injure a human being or, through inaction, allow a human being to come to harm.
2.     A robot must obey orders given it by human beings except where such orders would conflict with the First Law.
3.     A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
A key factor of Asimov’s Three Laws is that they are changeless. He actually anticipated a robot brain of huge complexity that could only be created by humans at the mathematical level. Consequently, the Three Laws are not in the textual form demonstrated above, but were programmed in mathematical terms straight into the center of the robot brain. This programming could not alter in any important way during the course of the robot’s life. Asimov had actually assumed that a robot would be programmed with all things it required to operate before its activation.
Thus the name ASIMO can be easily associated with Asimov, the iconic science-fiction writer who visualized intelligent humanoid robots in his tales and was the first to establish the three laws of robotics, controlling human-machine interactions.

Asimo serving drinks

RIBA, the robot nurse

"RIBA" stands for Robot for Interactive Body Assistance and is perhaps the first robot that can pick up or lay down a real human weighing up to 61kg/134lbs from or to a bed or wheelchair. Oddly, this is a robot that requires a human assistant. RIBA uses its very firm human-like arms and by novel perceptible direction methods applying high-accuracy tactile sensors, is able to do most of the jobs that a nurse does. RIBA could establish its worth when you acquire one, but before you buy RIBA just consider the number of times patients in your hospitals and care institutions are lifted and moved every day. This would also relieve the many care-givers who ultimately fight back bad backs, injuries, and exhaustion. Apart from this the patients will no longer suffer from poorly-executed moves.

Are we safe from robots thinking for themselves?

Robots which can think for themselves in the future would be available for minding our children and the aged and patrolling our streets, say experts. Scientists state that a new generation of robots working without human counsel is in the making. Apart from this in about five years robots can be seen working in care homes, monitoring prisons and helping police in tracing criminals.
Alan Winfield, professor of electronic engineering at the University of the West of England in Bristol, said “it would not be long before technological advances made it possible for robots to be introduced in the home, as well as prisons and the police service."
Further, while speaking at a debate on robot ethics at the London Science Media Centre, he said, "It is highly likely that in a number of years robots will be employed both for child-minding and care for the elderly. But the danger is that we will sleepwalk into a situation where we accept a large number of autonomous robots in our lives without being sure of the consequences. The outcome could be that when given a choice the robot could make the wrong decision and someone gets hurt. They can go wrong just like a motor car can. We should be aware of the future that we are letting ourselves in for. We need to look at their safety and reliability." The predictions of the professor could be seen in the hit Hollywood sci-fi film I-Robot, in which a slave robot having a mind of its own causes pandemonium.
The major boosts in robotics in current years have been as arms of war. The U.S. military is building up battlefield robots that will have the capacity to make a decision as to when lethal force has to be used. At the Georgia Institute of Technology in Atlanta, a battlefield robot has been trained to use radar data and intelligence feeds and to make decisions based on a set of moral rules.

Drawbacks

Even though at some point of time in the future robots may fit into the picture drawn by us, nothing can be perfectly said as of now. Regardless of the fact that robots are not alive, numerous delicate actions have been attributed to Asimo's poses, which were added to conquer the next barrier - the emotional one. Robots are made to look safe in order that we don't imagine a cold calculating heartless being moving around in our homes chopping vegetables, holding boiling water, or sitting in rest/recharge mode next to us on the sofa.
So if the robot does all of our household work, should we as family members only sit and watch TV or sleep? Robots like Asimo try to generate a fantasy that is not essentially human, but something else that is roughly a cartoon-like overstated description of human mannerisms.
Even though at some point of time in the future robots may fit into the picture drawn by us, nothing can be perfectly said as of now. Regardless of the fact that robots are not alive, numerous delicate actions have been contributed in Asimo's poses, which were added to conquer the next barrier - the emotional one. Robots are made to look safe in order that we don't imagine a cold calculating heartless being moving around in our homes chopping vegetables, holding boiling water, or sitting in rest mode next to us on the sofa.
If robots help us and in industries do the job more effectively and efficiently, then what about us? Do we become useless? If the robot replaces the human job, there will be no long queue for job applications from the human later resulting in the increase of unemployment rate. This is indeed debatable!

Conclusion

Now the time has come to decide whether Asimo and future generations of robots will merge comfortably well into homes when they are more easily available to the general populace. Or will there be a revolt against machines working separately without the straight physical direction of human hands? One thing is for sure: precisely as computers were applied in styles that most exposed humanity's factual personality, robots will tell us to a greater extent about ourselves in an unimaginable way. Asimo is equipped to bond your family. What can he do? It is left to the purchaser to decide, but the rule of Caveat Emptor has to be followed in the process.
So when can you buy a robot for the home? Right now! You can get an Asimo for only $1 million.






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September 15, 2018
PID loop tuning is a programming method that allows a user to vary any combination of three variables to produce the desired effects within a closed system. Here we will discuss common forms of PID tuning as well as situations in which no PID is needed.
The PID, as the name itself implies has three main coefficients which affect the system response, varying these coefficients will give different results. A PID algorithm compares the system output against a calibrated or reference value. A reference value is a standardized result and based on that, system output is changed to achieve desired results. The best thing about a PID controller is that it is tunable and scalable. You do not need to vary all the three coefficients, you can change just one coefficient, or change two different coefficient by making combination or change all of them, depending upon your requirements and this is what we call loop tuning of a PID controller.

 PID and Robotics

Robotics means automated control of machines. PID controllers go hand in hand with robotics as they bring accuracy into the system. However not every robotic device will require you to put a PID controller and vary your parameters. There are certain conditions that decide if you need PID loop tuning or not.
You surely need a PID controller when your system is linear. For non-linear devices, characteristics properties and parameter values will change with change in the curve of the graph, which means at every point of the curve, you will need to change your parameter gains. If the graph is linear, you can change parameter gains as a whole.
You do not need a PID controller under the following conditions:
○       If your reference output and system output match, you get what you want, there is no need for loop tuning of PID.
○      If the system response of your system does not show any error and there is no need to improve upon its characteristics, you do not need PID.
○      If all the input parameters are working fine and the system is not showing any dangerous output characteristics.

Different Methods for Loop Tuning in Robotics

PID loop tuning given the natural frequency of the parameter gains can be manipulated using different methods. Here are some of the most popular loop tuning methods that are tested by times and trusted by people all over the world.
Ziegler Nicholas Method is arguable the most popular and reliable method for tuning a PID loop. This method includes setting the D and I gains to zero value. The parameters which are monitored and manipulated in this method are Proportional Gain (Kp ), Ultimate Period (Pu) and Oscillation Period (Tu). The P, I and D gains are now set against oscillation period and ultimate gain so that desired output is achieved.This method can be used for both the open and closed loop systems.
The basic formula used in the Ziegler Nicholas method for tuning is : Kc = 0.45Ku and Tu = (Pu/1.2)
Cohen-Coon Method is suitable only for open loop systems and it can only be used for time delay models that belong to t he first order class. It corrects the steady-state response given by the Ziegler Nicholas method. Cohen Coon method is an offline method, whereas Ziegler Nicholas method is an online method. For every tuning cycle, a steady state must be achieved because in offline methods steady state only leads towards step change in the input.The corresponding image shows parameters used in the Cohen Coon method.
Automatic Tuning based on relay feedback is another method that is an alternative to the conventional continuous cycling technique. This method is also known as Auto Tune Variation (AV) Method. It is performed for closed-loop systems and it is efficient for long time constant processes as compared to the conventional hit and trial or step methods.
Advancement in technology has made it possible to perform loop tuning and visualize the changes taking place on screen. LabView is one such tool that helps in monitoring and optimizing control systems using graphical flowcharts. Another tool is Robust Control Toolbox from Matlab. This tool minimizes overshoot and keeps a check on the steady state errors. It also offers approximation algorithms for model order reduction.





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September 14, 2018
After a robot has outlived its normal utility, its disposal becomes a challenge for the enterprise using it. Resale, sending to a scrap yard, using it for land-fill, and recycling are some of the options available for decommissioned robots.

What are Robots?                                                              

By definition, robots are aids created to make work easier, faster, more accurate, and safer to do. They are mechanically driven and have some artificial intelligence that can be programmed to perform different commands. Robots have been developed for many reasons, but have largely found their major use in the manufacturing sector. Some of the work that can be performed by industrial robots is the lifting of heavy weights, painting, drilling, welding, and handling chemicals and hazardous materials. These robots are mainly fixed and have limited movement.
Maintenance departments and facilities that handle hazardous material also use robots to do work. Exploration missions to the moon and more recently to Mars used robotic equipment to survey and collect data for research centers on earth. Exploration robots are built to withstand extreme conditions and are mobile; they need to be mobile to conduct geological surveys and collect data and samples. Anti-terrorism agencies and the military use robots to neutralize dangerous things like bombs or mines. Personal robots are rare since they need to be programmed to do many different tasks.

Decommissioning of Robots

When industrial robots stop working or are replaced with newer versions, it is called "decommissioning." The problem of disposal, of course, starts after the robot has been decommissioned. Resale, sending to a scrap yard, using it for land-fill, and recycling are some of the options available for decommissioned robots. The fate that a decommissioned robot meets depends on the nature of work for which it was developed, the materials used for making it, and the law of the land.
 Recycling
If no potential customer for the used equipment comes forward, retired industrial robots should ideally be sent to recycling plants for the proper disposal of the different materials used to build them. Most robots are built using plastic and metals, which should not pose any dangers, but within these robots are many electronic sensors, motion detectors, batteries, motors, and other part that may contain harmful materials. This does not apply to all robots, but particularly does for robots that are constructed as a single operational unit.
Robotic attachments like used pick and place robots, painting robots, and precision welding, positioning, and manufacturing robots, as well as all robots that receive commands from a central command, do not pose a high pollution risk as they are composed mostly of mechanical parts. Nevertheless, all used robots, if possible, should be sent to robot recycling units who specialize in dismantling them and extracting all the reusable parts and materials.
Storing
Robots that have been used in certain hazardous operations such as inside nuclear power plants may never get proper disposal due to the nature of the work they have to do. When they are retired or break down, replacement is done and the old robot is moved to a storage area within the secured perimeter.
Exploration robots are also never built for cycling since there fate is not predictable. Robots on the moon and mars are some example of these kinds of irretrievable robots.
Back on earth the problem is getting bigger with the risk of contamination of water reservoirs and underground water by harmful elements that are contained within the artificial intelligence and sensors that controls the robots mobility and precision. People who are environmentally conscious have created innovative ways by which they can contribute to reducing pollution.
Retired Robots and Art
Artists have begun using them in designs to decorate offices, businesses, and homes and parks. Some of these innovative artists create sculpture depicting different scenarios that modern day people face on a daily bases. Some interior decorators use retired robots which have been extracted of all harmful elements to decorate robot enthusiasts homes and rooms with them. Robotic arms used for welding can be used as lamp holders or as a coat rest.
The Problem of E-Waste
With the world population increasing on a daily basis and demand for produces and resources increasing, there is urgency now more than ever to act responsibly towards e-waste. With few recycling plants distributed around the world and more e-waste being produced on a daily basis humanity has to think twice before we find ourselves buried in the waste itself.
With proper management and financial support, e-waste like used robots can be recycled and extracted parts can be reused on other models of robots. This requires a lot of time and man power since they need to be dismantled piece by piece in order to perform the job correctly.





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