Control and Robotics by Adrian M. by Adrian Manso Saavedra

Definition

adrian555 — 2024-04-30 06:25:51 UTC

adrian555 — 2024-05-14 15:01:24 UTC

A program is a list of orders (commands). Robots perform their tasks by following that list

adrian555 — 2024-05-14 15:06:03 UTC

The commands are written in a programming language that the processor of the robot can understand

adrian555 — 2024-05-14 15:09:23 UTC

Control is the part of the robot which is dedicated to regulating and governing the actions of the robot according to real-life situations

Parts of a robot

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Actuator (arm)

adrian555 — 2024-05-14 15:14:30 UTC

Most robots are "robotic arms" which work in production lines. The actuator has a "manipulator" and a system of articulations.

adrian555 — 2024-05-14 15:15:53 UTC

A robot is a machine that performs a task or a variety of tasks automatically (without the direct control of a person) following a program.

Manipulator

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The manipulator acts on the product which passes along the production line

System of articulations

adrian555 — 2024-05-14 15:25:08 UTC

The system of articulations moves the manipulator to the correct place

Electric power systems

adrian555 — 2024-05-14 15:30:19 UTC

Electric power systems are the most common way to power robots.

There are 3 types of electric motors.

1-AC motor

2-DC motor

3-Step-by-step motor

AC and DC motors

adrian555 — 2024-05-14 15:33:26 UTC

AC and DC motors require constant control. The sensor must constantly give information, and the controller must constantly tell the motor if it should move or not

Step-by-step motors

adrian555 — 2024-05-14 15:35:56 UTC

Step-by-step motors don't require sensors for position control, they move a number of steps forward or backwards and the controller has a memory to remember how many steps they have moved.

Step-by-step motors don't have a lot of force, and they aren't energy efficient, so we use them for small applications where we need precise control of movement and position.

Pneumatic power systems

adrian555 — 2024-05-14 15:38:29 UTC

Pneumatic power systems use compressed air as energy.

A compressor (powered by an electric motor) compresses the air into a tank

The compressed air travels from the tank through a system of pipes and valves to the cylinders

The compressed air moves a piston inside the cylinder, which moves an actuator

Hydraulic power systems

adrian555 — 2024-05-14 15:41:32 UTC

Hydraulic power systems use the pressure in oil as energy.

An oil pump (powered by an electric motor) adds pressure to the oil from a tank.

The oil travels through a system of pipes.

The oil moves the actuators and then returns to the tank.

Position sensors:

adrian555 — 2024-05-14 15:43:51 UTC

Position sensors are linear or angular. We use them to measure the position of an object, its size or its shape.

Position sensors can be onductive sensors, limit switches, LDRs, etc

Force sensors

adrian555 — 2024-05-14 15:45:35 UTC

Different kinds of force sensors detect different Forces

Temperature sensors

adrian555 — 2024-05-14 15:46:51 UTC

Temperature sensors are very common. Temperature sensors are also used as safety devices in machines which have a risk of overheating

Types of robots

adrian555 — 2024-05-14 15:49:04 UTC

We can classify robots in various ways

Depending on the coordinate system

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Cartesian coordinates

The robot moves in a line along the X, Y and/or Z

The robot needs to know the distance to move from the origin of coordinates in cach direction.

Polar coordinates

The robot rotates around the X, Y and/or Z axis

The robot needs to lenow how many degrees to rotate

Depending on the degrees of freedom

adrian555 — 2024-05-14 16:00:17 UTC

The degrees of freedom are the number of axis along which the robotic arm can move, or around which the arm of the robot can rotate

The minimum is one, and the maximum is 6

Depending on the energy used

adrian555 — 2024-05-14 16:02:56 UTC

Hydraulic
Pneumatic
Electric

Uses and applications

adrian555 — 2024-05-14 16:04:44 UTC

adrian555 — 2024-05-14 16:06:49 UTC

There are many different examples of the ase and applications of robots in production lines: metal welding, sticking labels, etc

Robots are generally used if they have one or more of the following advantages

More economical than a person
Faster than a person
Can work 24 hours a day
Produce better quality

Can work in dangerous places

History

adrian555 — 2024-05-14 16:07:15 UTC

adrian555 — 2024-05-14 16:13:21 UTC

It's hard to say exactly when robotics began

Some historians date the beginning of robotics to the middle ages, when machines were first used without direct human control

adrian555 — 2024-05-14 16:17:43 UTC

In the first half of the 20th century, robots that worked with relays were first used. These

automatisms were simple but functional. For example, in lifts, someone had to press a button to indicate the desired floor.

The lift would stop automatically at the correct floor thanks to a relay

adrian555 — 2024-05-14 17:03:16 UTC

Modern robotics started with the development of microchips in the second half of the 20 century.

Thanks to the microchips:

Logic can be more complex
Robots are programmable a programmer can change the logic (software) or the parameter
Microchips are cheaper and more durable.

Future

adrian555 — 2024-05-14 17:05:05 UTC

Artificial Intelligence

adrian555 — 2024-05-14 17:09:23 UTC

Artificial intelligence is the capacity of the microprocessor to "learn from experience". It also knows from "experience" that in the afternoon most people call the lift from the upper floors

adrian555 — 2024-05-14 17:10:48 UTC

The microprocessor can decide that:

In the morning, the lift will "wait" on the ground floor
In the afternoon, the lift will "wait" on the 5th floor

Nano robots

adrian555 — 2024-05-14 17:12:50 UTC

Nano means "one million times smaller than the unit"

1 mm 1/1,000 m

1 nm1/1,000,000 m

The name "nano robots" refers to their very small size

These robots have many potential applications, particularly in the field of medicine. Nano robots could, for example, travel along human veins and un-block a blocked vein.

They could also travel through the blood stream to a particular area of the body, and release a medicine there