general structure of a robot - v2
TRANSCRIPT
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Hardware Software Mechanics
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• Low Voltage/Current
• Analyse data and drives actuators
• Logic circuits and sensors
• Higher Voltage/Current
• Supply power to the system and the
actuators
• Transistors and relays
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Accelerometer, gyrometer, magnetometer Micro Strength sensor
Light (Photo Resistor) Ultrasonic sensor
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FilterSamplingAcquisition
FilterSamplingAcquisition
Sensor 1
Sensor 2
ExploitationData fusion
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Accelerometer Magnetometer Gyroscope
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Electromechanical device that converts
the angular position or axle to an analog or digital
code.
2 types : Absolute // Incremental (most used)
Provides information processed elsewhere into
speed, distance or position.
Used in many applications that require precise
shaft unlimited
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Provides location and time information in all weather conditions
Anywhere on or near the Earth where there is an unobstructed line of sight to four or more
GPS satellites
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Allows to measure altitude
Measures pression
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Used to track colors or collect basic image statistics
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Transformed energy
Orders
EnergyActuator
His function is to convert an input
energy available in some form of
usable energy output for a given effect.
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Rotor
• Permanent magnets
Stator
• Windings
Advantages
• Simple• Economic• No
rotor/stator contact
• Speed rotation control
Cons
• Overheating• Poor torque
at start and at low speed
• PWM
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• Windings with brushes
Rotor
• Permanent magnets
Stator
• Simple• Economic• More torque at start and at low speed• Lower heating• Easier to control (PWM)• No rotor/stator contact• Speed rotation control
Advantages
• Lower efficiency (brushes)
Cons
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• Reduction of rotation speed• Increase of torque• No rotor/stator contact• Speed rotation control
Why ?
• Gears• Chains & sprockets• Epicyclic …
How ?
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• Permanent magnets• Step depends on magnets number
Rotor
• Electromagnets
Stator
• Precise• Fast acceleration• Easy to keep a position
Advantages
• Jerky at low speed• Can’t hold a high torque
Cons
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• Permanent magnets
Rotor
• Electromagnets
Stator
• Precise• Fast acceleration• Easy to keep a position
Advantages
• Jerky at low speed• Can’t hold a high torque
Cons
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Price
Size
Input
Output
Computing power
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Integration Electric consumption Cost
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Create
Evaluate
Reproduce
Stop ?
MutateNo
A genetic algorithm (GA) is
a search heuristic that mimics the
process of natural selection
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Neural networks are models inspired by
animals' central nervous systems that are
capable of machine
learning and pattern recognition
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SecurityDebit
Laws Protocols
DatasRange
Multi-users
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KeyboardsButtonsJoysticks
ScreensSoundsVirtual realityAugmented reality
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Spin around
q1, q3 and q5
Move
q2, q4, q6 and q7
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In this convention, each homogeneous transformation Ai
is represented as a product of four basic transformations
𝜃𝑖 , 𝑎𝑖 , 𝑑𝑖 , ∝𝑖 are parameters associated with link i and joint i.
The four parameters are given the names link length, link twist, link offset, and joint angle
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Determined by the Jacobian of this function.
Jacobian is encountered in many aspects of robotic
manipulation: in the planning and execution of robot
trajectories, in the derivation of the dynamic
equations of motion
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A PID controller calculates an "error" value as the
difference between a measured process variable
and a desired setpoint.
The controller attempts to minimize the error in
outputs by adjusting the process control inputs.
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Precision Stability Rapidity
P
I
D
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Duct tape
Plastic
PLA
Carbon Fiber
Wood
Aluminium
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