General Structure of a Robot - V2
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This document is an introduction to robotics. It describes the general structure of a robot by giving informations about hardware, software and mechanics. These are introductions, very useful if you don't know much about robotics. If you need any details, send a message or a mail at minipada@gmail.com.
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General Structure of a Robot - V2
- 6. • Low Voltage/Current • Analyse data and drives actuators • Logic circuits and sensors • Higher Voltage/Current • Supply power to the system and the actuators • Transistors and relays
- 7. Accelerometer, gyrometer, magnetometer Micro Strength sensor Light (Photo Resistor) Ultrasonic sensor
- 10. Electromechanical device that converts the angular position or axle to an analog or digital code. 2 types : Absolute // Incremental (most used) Provides information processed elsewhere into speed, distance or position. Used in many applications that require precise shaft unlimited
- 11. Provides location and time information in all weather conditions Anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites
- 12. Allows to measure altitude Measures pression
- 13. Used to track colors or collect basic image statistics
- 14. Transformed energy Orders Energy Actuator His function is to convert an input energy available in some form of usable energy output for a given effect.
- 15. Rotor • Permanent magnets Stator • Windings Advantages • Simple • Economic • No rotor/stator contact • Speed rotation control Cons • Overheating • Poor torque at start and at low speed • PWM
- 16. • Windings with brushes Rotor • Permanent magnets Stator • Simple • Economic • More torque at start and at low speed • Lower heating • Easier to control (PWM) • No rotor/stator contact • Speed rotation control Advantages • Lower efficiency (brushes) Cons
- 17. • Reduction of rotation speed • Increase of torque • No rotor/stator contact • Speed rotation control Why ? • Gears • Chains & sprockets • Epicyclic … How ?
- 18. • Permanent magnets • Step depends on magnets number Rotor • Electromagnets Stator • Precise • Fast acceleration • Easy to keep a position Advantages • Jerky at low speed • Can’t hold a high torque Cons
- 19. • Permanent magnets Rotor • Electromagnets Stator • Precise • Fast acceleration • Easy to keep a position Advantages • Jerky at low speed • Can’t hold a high torque Cons
- 22. Integration Electric consumption Cost
- 25. Create Evaluate Reproduce Stop ? Mutate No A genetic algorithm (GA) is a search heuristic that mimics the process of natural selection
- 26. Neural networks are models inspired by animals' central nervous systems that are capable of machine learning and pattern recognition
- 34. Spin around q1, q3 and q5 Move q2, q4, q6 and q7
- 35. In this convention, each homogeneous transformation Ai is represented as a product of four basic transformations 𝜃𝑖, 𝑎𝑖, 𝑑𝑖, ∝𝑖 are parameters associated with link i and joint i. The four parameters are given the names link length, link twist, link offset, and joint angle
- 37. Determined by the Jacobian of this function. Jacobian is encountered in many aspects of robotic manipulation: in the planning and execution of robot trajectories, in the derivation of the dynamic equations of motion
- 39. A PID controller calculates an "error" value as the difference between a measured process variable and a desired setpoint. The controller attempts to minimize the error in outputs by adjusting the process control inputs.