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GROUP MEMBERS :
SNEHA MANDAL B121057
SOUMESH MOHANTY B121058
SUDHANSHU KUMAR B121059
SUMAN PRITY GILUA B121060
AMAN SHARMA B121061
ANUJ BALORIA B121062
INTRODUCTION
KEY REASONS
WHY DC MOTOR
ROBOT DYNAMICS
TORQUES ON A ROBOTIC
BODY
CONTROL OF MOTOR
CONTROL ARCHITECTURE
PUMA
CONCLUSION
WHY CONTROL SYSTEM ?
The control system is a crucial component of a robot that is responsible for
controlling the behavior of the robot. It is designed to process sensor data, interpret
instructions, and generate control signals to achieve the desired behavior of the
robot.
The control system ensures that
the robot's movements are
accurate and precise by
generating control signals
based on the desired behavior
and feedback from the sensors.
The control system can process
data quickly and generate
control signals rapidly, allowing
the robot to move at high
speeds if necessary.
The control system can be
programmed to monitor the
robot's surroundings and take
corrective actions to prevent
accidents. This is especially
important when robots are
working alongside humans.
The control system can enable
the robot to operate
autonomously by processing
sensor data and generating
appropriate responses without
human intervention. This is
essential for applications such
as unmanned aerial vehicles
(UAVs) or autonomous vehicles.
The control system can be
programmed to adapt to
changing conditions, allowing
the robot to adjust its behavior
to handle different
environments or tasks.
The control system can
coordinate the actions of
multiple robots to perform
complex tasks. This is important
for applications such as
manufacturing or warehouse
automation.
Autonomous
Robot
Intelligent Robot
Autonomous
Robot
Robotic applications expect a high starting torque power capability.
The DC motor has a high torque-to-speed ratio, enabling it to
provide sufficient high torque speeds with ease and minimal effort -
it is this fundamental reason why DC motors are preferable to AC
motors for the robotic power source.
A DC motor is connected at each joint of a robot .
The purpose of robot dynamics is to determine the amount of force if it is a
linear joint and ther amount of torque if it is a Rotary joint ,which is indeed
the cause of motion or movement in robotic joints.
In Inverse Dynamics , we give the general co-ordinates of robotic joints
,which is either angular displacement in case of Rotary joints or ,linear
displacement in case of linear joints as input in order to obtain the torque or
the force actiong on them .
In Forward Dynamics , the torque and the force acting upon the robot is
provided and we muist find out the necessary coordinates ,that is angular
displacement and displacement which bcauses them .
TORQUES ON A ROBOTIC BODY
Robotic joints torques consists of : Inertial , Coriolis and Centrifugal,and Gravity
terms .
Inertial terms depend on the mass distribution and moment of inertia of the
robotic joint.
The Centrifugal terms depemnd on rotation . The Coriolis component comes into
picture when there is a sliding joint on a rotating joint .
Gravity terms depend on acceleration due to gravity .
TORQUES ON A ROBOTIC BODY
A DC motor is connected at each joint of a robot ,where torque is proportional
of the armature current .
At each of the robotic joint ,we will
have to generate a torque as a
function of time .
At each of the robotic joint ,we will have to
generate a torque as a function of time .
To generate this particular torque,we will have to consider a control
scheme .
To generate this particular torque,we will have to consider a control
scheme .
PUMA stands for
Programmable Universal
Machine for Assembly .
The PUMA comprises six
rotatory joints , each
controlled by a dedicated
control architecture .
The control architecture for each joint consists a 6503 microprocessor , a digital
to analog conversion ,a current amplifier to regulate the armature current ,and
the subsequent generation of joint torque to generate the joint angle (theta) over
time .
1.
2. The optical Encoders serve as feedback devices helping in determining the joint
angle.These values are compared with desired values and any deviation results in
error amplification,influencing the armature current for error compensation.
3. The strategy ensures precise movement for each robotic joint,facilitated by the
corresponding motor and its individual control scheme.
4. For the PUMA ,each joint is controlled by a separate controlling scheme,all
coordinated by a centalized master control computer .
5. The master control computer ,directed by a controller or a director,governs the
movements of all the joints ,ensuring comprehensive control over the PUMA’s
operations .
Additional Losses
We are now at a stage where we can give
instructions to the robot and the robot will
try to follow and perform the said
instructions.
Robotics Group 10  (Control Schemes) cse.pdf

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Robotics Group 10 (Control Schemes) cse.pdf

  • 1. GROUP MEMBERS : SNEHA MANDAL B121057 SOUMESH MOHANTY B121058 SUDHANSHU KUMAR B121059 SUMAN PRITY GILUA B121060 AMAN SHARMA B121061 ANUJ BALORIA B121062
  • 2. INTRODUCTION KEY REASONS WHY DC MOTOR ROBOT DYNAMICS TORQUES ON A ROBOTIC BODY CONTROL OF MOTOR CONTROL ARCHITECTURE PUMA CONCLUSION
  • 3. WHY CONTROL SYSTEM ? The control system is a crucial component of a robot that is responsible for controlling the behavior of the robot. It is designed to process sensor data, interpret instructions, and generate control signals to achieve the desired behavior of the robot.
  • 4. The control system ensures that the robot's movements are accurate and precise by generating control signals based on the desired behavior and feedback from the sensors. The control system can process data quickly and generate control signals rapidly, allowing the robot to move at high speeds if necessary. The control system can be programmed to monitor the robot's surroundings and take corrective actions to prevent accidents. This is especially important when robots are working alongside humans.
  • 5. The control system can enable the robot to operate autonomously by processing sensor data and generating appropriate responses without human intervention. This is essential for applications such as unmanned aerial vehicles (UAVs) or autonomous vehicles. The control system can be programmed to adapt to changing conditions, allowing the robot to adjust its behavior to handle different environments or tasks. The control system can coordinate the actions of multiple robots to perform complex tasks. This is important for applications such as manufacturing or warehouse automation.
  • 7. Robotic applications expect a high starting torque power capability. The DC motor has a high torque-to-speed ratio, enabling it to provide sufficient high torque speeds with ease and minimal effort - it is this fundamental reason why DC motors are preferable to AC motors for the robotic power source. A DC motor is connected at each joint of a robot .
  • 8. The purpose of robot dynamics is to determine the amount of force if it is a linear joint and ther amount of torque if it is a Rotary joint ,which is indeed the cause of motion or movement in robotic joints. In Inverse Dynamics , we give the general co-ordinates of robotic joints ,which is either angular displacement in case of Rotary joints or ,linear displacement in case of linear joints as input in order to obtain the torque or the force actiong on them .
  • 9. In Forward Dynamics , the torque and the force acting upon the robot is provided and we muist find out the necessary coordinates ,that is angular displacement and displacement which bcauses them .
  • 10.
  • 11. TORQUES ON A ROBOTIC BODY
  • 12. Robotic joints torques consists of : Inertial , Coriolis and Centrifugal,and Gravity terms . Inertial terms depend on the mass distribution and moment of inertia of the robotic joint. The Centrifugal terms depemnd on rotation . The Coriolis component comes into picture when there is a sliding joint on a rotating joint . Gravity terms depend on acceleration due to gravity . TORQUES ON A ROBOTIC BODY
  • 13. A DC motor is connected at each joint of a robot ,where torque is proportional of the armature current . At each of the robotic joint ,we will have to generate a torque as a function of time .
  • 14. At each of the robotic joint ,we will have to generate a torque as a function of time .
  • 15.
  • 16. To generate this particular torque,we will have to consider a control scheme .
  • 17. To generate this particular torque,we will have to consider a control scheme .
  • 18.
  • 19.
  • 20.
  • 21.
  • 22. PUMA stands for Programmable Universal Machine for Assembly . The PUMA comprises six rotatory joints , each controlled by a dedicated control architecture .
  • 23.
  • 24. The control architecture for each joint consists a 6503 microprocessor , a digital to analog conversion ,a current amplifier to regulate the armature current ,and the subsequent generation of joint torque to generate the joint angle (theta) over time . 1. 2. The optical Encoders serve as feedback devices helping in determining the joint angle.These values are compared with desired values and any deviation results in error amplification,influencing the armature current for error compensation.
  • 25. 3. The strategy ensures precise movement for each robotic joint,facilitated by the corresponding motor and its individual control scheme. 4. For the PUMA ,each joint is controlled by a separate controlling scheme,all coordinated by a centalized master control computer . 5. The master control computer ,directed by a controller or a director,governs the movements of all the joints ,ensuring comprehensive control over the PUMA’s operations .
  • 27. We are now at a stage where we can give instructions to the robot and the robot will try to follow and perform the said instructions.