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General Structure of a Robot - V2
The document discusses various components and principles related to hardware and software mechanics, including sensors, actuators, and control systems. It highlights the types of sensors utilized, the function of actuators, and the advantages and disadvantages of different motor designs. Additionally, it covers concepts like genetic algorithms, neural networks, and PID controllers relevant to robotics and automation.
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General Structure of a Robot - V2
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- 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, magnetometerMicro Strength sensor Light (Photo Resistor) Ultrasonic sensor
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- 10. Electromechanical device thatconverts 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 andtime 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 measurealtitude Measures pression
- 13. Used to trackcolors or collect basic image statistics
- 14. Transformed energy Orders Energy Actuator His function isto 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 withbrushes 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 ofrotation 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
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- 25. Create Evaluate Reproduce Stop ? Mutate No A geneticalgorithm (GA) is a search heuristic that mimics the process of natural selection
- 26. Neural networks aremodels inspired by animals' central nervous systems that are capable of machine learning and pattern recognition
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- 34. Spin around q1, q3and 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 theJacobian 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 controllercalculates 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.
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