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A Textbook of Robotics 1: Basic Concepts - download pdf or read online

By Moshe Shoham (auth.)

ISBN-10: 1461598850

ISBN-13: 9781461598855

ISBN-10: 1461598877

ISBN-13: 9781461598879

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Additional resources for A Textbook of Robotics 1: Basic Concepts

Example text

Pneumatic drive units are often used in simple automatic systems, such as those shown in Figure 2-3~ These systems are machines in which the piston moves until stopped by a mechanical end stop, thus achieving a high degree of precision in stopping. Today, by contrast to the widespread use of pneumatic drive in simple automatic systems, the number of robots using pneumatic drive is quite small. This is because the high compressibility of air reduces their ability to achieve precision control over a continuous area.

1: The three main units of a robotic system fitted with sensors In this chapter, as we have said, we want to focus on the mechanical arm. To repeat ourselves a little, we will describe it again. The robot arm performs motions in space. Its function is to transfer objects and tools from point to point, as instructed by the controller. Attached to the end of the arm is an end effector, used by the robot to carry out its assigned tasks. End effectors vary according to the job at hand. For example, in robots used to transfer parts from point to point, the end effector is a gripper.

53 Chapter Four The Robot Controller The controller is that part of the robot which operates the mechanical arm and maintains contact with its environment. The device is a computer composed of hardware and software, combined to enable it to carry out its assigned tasks. How does the controller execute the process of control, and what are ~he various methods used in this process? There are a number of levels in robot control, and they are the first topic of this chapter. 55 Basic Concepts ROBOT CONTROL LEVELS Robot control may be divided into three levels which make up the control hierarchy.

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A Textbook of Robotics 1: Basic Concepts by Moshe Shoham (auth.)


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