By Moshe Shoham (auth.)
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Extra info for A Textbook of Robotics 1: Basic Concepts
As we have indicated before, the third level of control we have just listed - coordination with the environmnet - is still in the experimental stages. We will discuss this topic in Chapter 9. Here, we will limit ourselves to the first two levels - actuator control and path control. Actuator Control Actuators are the units which cause motion of the robot axes. Each axis of motion of the robot arm includes, at least, a joint, a link, and an actuator. In some robots, the axes also include motion transfer devices, as well 'as mits to identify the relative position of the links.
A digital/analog converter is required to interface between the computer signals and 57 Basic Concepts the drivers. Figure 4-2 presents a schematic diagram of the array used to activate an electric motor. O/A CONV. 2: The computer controls the electric motor via a digital analog converter and driver system Converters and drivers are also used in hydraulic and pneumatic drive systems. The difference is that, in these types of systems, the electrical unit moves only the valve (see Figure 3-17), while the energy for the actuator is supplied by an external unit, such as an air or oil pump.
Their work envelope is larger than that of any other type of robot, and their mechanical rigidity is lower. However, no great degree of precision can be achieved in locating the end effector; control is complicated and difficult, because of the three revolute joints and because of variances in the load moment and moments of inertia throughout the work envelope. COMPARISON OF ROBOT WORK ENVELOPES In this brief section, we will go through some elementary mathematics that will provide important insight into the calculation of robot capabilities.