This Electronics Engineering Seminar Topic deals with the following:
One of the main goals of the study of robotics today is to understand not only the control systems used to stabilize the position, motion, and other forces of the robot, but also to allow robots to effectively work via sensors and actuators in dynamic environments.
The field of robotics has its origin in science fiction, the term ROBOT was derived from the English translation of a fantasy play written in Czecholosolvakia around 1920. It took another 40 years before the modern technology of industrial ROBOTS began. Today robots are highly automated mechanical manipulators controlled by computers.
First, let’s decide what a ‘robot’ is. To be a robot, it should have the ability to think – make decisions. This may sound hard
IF FRONT LEFT WHISKER SENSOR IS ON THEN
STOP, GO BACKWARDS 2 FEET, TURN RIGHT, CONTINUE.
This is a very common ‘IF-THEN’ statement.
A machine that can perform this instruction is truly a robot. So, the conclusion is that to be called a robot; you really need an on-board brain and a way to program it.
Classification of ROBOTS:
- Robot like devices:
- Prostheses
- Exoskeletons
- Telecherics
- Locomotive mechanism
- Classification by coordinate system:
- Cylindrical coordinate robots
- Spherical coordinate robots
- Jointed arm robots
- Cartesian coordinate robots
- Classification by control method:
-
- Non-servo controlled robots
- Servo controlled robots
- Point-to-point servo controlled robots
- Continuous-path servo-controlled robots
2. SENSORS IN ROBOTICS
The sensors used in robotics include wide range of devices that can be divided into the following general categories:
1. Tactile sensors:
- Touch Sensors
- Force sensors
- Force sensing wrist
- Joint sensing
- Tactile array sensors
2. Proximity and Range sensors.
3. Miscellaneous sensors and sensor based system
2. 1. Tactile Sensors:
Tactile sensors are devices that indicate contact between themselves and some other solid object.
2.1.1. Touch Sensors:
Touch sensors are used to indicate that contact has been made between two objects without regard to the magnitude of the contacting force. Another use for touch sensing device would be as a part of inspection probe that is manipulated by the robot to measure the dimensions on the work part.
2.1.2. Force Sensors:
Capacity to measure forces permits the robots to perform a number of tasks. Force sensing in robotics can be accomplished in several ways. A commonly used technique is “force-sensing wrist”. This consists of a special load-cell mounted between the gripper and the wrist. Another technique is to measure the torque being exerted by each joint; this is usually accomplished by sensing motor current for each of the joint motors.
2.1.3 Force-sensing wrist:
The purpose of force sensing wrist is to provide information about three components of force and three moments being applied at the end of one arm. Since the forces are usually applied to the wrist in the combination it is necessary to first resolve the forces and moments into their six components. The kind of computation can be carried out by the robot controller or by a specialized amplifier designed for this purpose. Based on this calculations the, the robot controller can obtain the required information of the forces and the moments being applied at the wrist.
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