Introduction to Robotics Part 1
Direct Control Robots and Robotic systems.
Systems
“Humans must be able to create, control and monitor
systems.”
Definition System:a group of
parts/machines working together to perform a taskTwo types of systems-a. natural-human body,weather and
ecosystems.Can only be monitored by humans
b. Technological-human made to solve problems
Sub Systems Smaller system(s) operating as part of a
larger system.Ex. System =Laptop computer
Subsystem=Keyboard, flat monitor, controller and speakers
Open loop system
Open Loop System: a system designed to do a task repeatedly without being able to adjust itself.
Lamp Mouse trap
Door handle Clock
Process OutputInput
Parts of a System
Input: the goal you want to achieve
Process OutputInput
Process: Action part of system
Output: The actual result of a system
What is a “Robot” Robot- A machine that is able to
interact with and respond to its environment. characterized by three central capabilities: the ability to Sense (input), the ability to Plan (process), and the ability to Act (output).
What is Direct Control?
Direct Control- A machine or system that is unable able interact with and respond to its environment with out human involvement
In other words humans are the part of the system.
An example is an RC car. It can not move without us telling it to move.
Where is the applicable?
Medical Field
Law Enforcement/ Military
Exploration
Mars Rover Sewerbot
Manufacturing
AND MUCH MORE!
Human Robot We will need a volunteer to be our
robot. The robot will have to keep there eyes closed and move slowly during this exercise.
The robot is only allow to do what the operator tells it to do.
We also need a volunteer to control or robot.
Controlling the Human Robot Place your hand on the right shoulder of the robot to
move the robot right.
Place hand on the left shoulder to move the robot left.
Place hands on both the left and right should to move the robot forward.
The robot is only allowed to move when the controller give it a command.
Lets try it out!
Closed loop systemClosed Loop System: designed to do a task and check for errors, then it will try to correct the errors.
Input OutputProcess
Vehicle uses motors tomove forward and follow black line
-Drive motor B & C forward-Wait for darker-Drive motor A backward-Wait for lighter
Car follows black line
Feedback/Monitor
Robot checks for black line
Feedback/Monitor Compares the output to the input. If
the output does not match the input this device will modify the process so that our desired result occurs.
Modern Feedback Loops Made up of three parts
Sensors-used to observe output of the system(monitor)
Comparators- compares actual output to the command input (compare)
Controllers- Modifies the process by turning it on and off or by adjusting it (adjust)
Sensor types:(monitor)
Thermal opticalelectrical
magnetic mechanical
Comparators:(Compare)
Human brain-Decides
Computer/computer chip-
Artificial intelligence
Transducer-
senses and compares
Controllers- adjust the process
Human operator electrical mechanical
hydraulicspneumatics