1 CD 71 Robotics
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Transcript of 1 CD 71 Robotics
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ROBOTICS
Definition: A robot is a reprogrammable, multifunctional manipulator designed tomove material, parts, tools or specialized devices through variable programmed motions
for the performance of a variety of tasks: Robot Institute of America, 1979
Laws of Robotics:
Law 1: A robot may not injure a human being or through inaction a!!ow ahuman being to come to harm
Law ": A robot must obey or#ers gi$en to it by human beings e%ce&t where
such or#ers wou!# conf!ict with a higher or#er !aw
Law ': A robot must &rotect its own e%istence as !ong as such &rotection #oes
not conf!ict with a higher or#er !aw
(now!e#gebase for Robotics
Ty&ica! )now!e#gebase for the #esign an# o&eration of robotics systems
! Dynamic system mo#e!ing an# ana!ysis! *ee#bac) contro!! Sensors an# signa! con#itioning
! Actuators an# &ower e!ectronics! +ar#ware,com&uter interfacing! Com&uter &rogramming
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(ey Com&onents
Sensors: Robot sensors: measure robot configuration,con#ition an# itsen$ironment an# sen# such information to robot contro!!er as e!ectronic
signa!s -e.g. arm &osition &resence of to%ic gas/
0ision Sensor: e.g. to &ic) bins &erform ins&ection etc.
*orce Sensor: e.g. &arts fitting an# insertion force fee#bac) in
robotic surgery
Ti!t sensors: e.g. to ba!ance a robot
Actuators: Common robotic actuators uti!ie combinations of #ifferent
e!ectro2mechanica! #e$ices
Synchronous motorSte&&er motor
AC ser$o motor
Brush!ess DC ser$o motor
Brushe# DC ser$o motor
Contro!!er:
3ro$i#e necessary inte!!igence to contro! the mani&u!ator,mobi!e
robot
"ase
#anipulator
linkage
$ontroller
%ensorsActuators
&ser interface
'o(erconversion
unit
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#odify a conventional programming language: this approach results in a general.
purpose language that is able to handle robot motion commands in addition to
general computing commands) +amples: A*, A#*)
Add a robot library to an e+isting programming language: a library of robot.
specific subroutines are added to a conventional programming language to
facilitate programming robot motions) 8or e+ample, the ebra R forcecontrol robot is euipped (ith such a library for $, so that one can (rite a $program to control the robot by calling those robot.specific subroutines)
-c/Tas)2!e$e! &rogramming !anguages: facilitates application programmers to (rite
task.oriented instructions in terms of the task or ob3ects to be handled rather than the
robot motion) 8or e+ample, ;grasp the bolt< or ;insert the peg
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A&&!ications of Robotics: S&ace e%&!oration
+ea!thcare
Domestic
6i!itary Defense
6anufacturing
Socia! 7se
Agricu!tura!