Robotics & Robotic Control

Flashcards on Robotics and Robotic Control.

Robot

Intelligent device whose motion can be controlled, planned, sensed; an electro-mechanical system that performs jobs cheaper, faster, and with greater accuracy than humans.

Degrees of Freedom

The number of independent directions in which the end effector of the robot can move. A solid object has a maximum of six.

X, Y, and Z

Translational movement.

Rx, Ry, and Rz

Rotational movement.

Robotic Joints

Rotation around joint axis or sliding link; several different types can be used like rotary joints (waist, elbow) and linear/prismatic joints (sliding).

Robot Geometry

The angles that a robot makes with a reference plane.

Revolute Joints

Axes that allow rotations.

Prismatic Joints

Axes that allow movement in a straight line.

Types of Robotic Arms

Cartesian, Cylindrical, Polar, SCARA, and Anthropomorphic.

Work Envelope

The volume of space in which a robot can operate.

Cartesian System

The X, Y, Z system–three independent translational directions.

Cylindrical System

Arm can rotate on a central support with three axes of motion (r, Z, and θ).

Spherical/Polar Coordinate System

Similar to finding a point on the earth’s surface, with radius, latitude, and longitude (r, θ, φ).

Anthropomorphic System

Also known as the Articulate (or Revolute) robot as it resembles the human arm.

SCARA System

Selective Compliant Assembly Robot Arm; all rotary joints in the arm rotate about the vertical axes.

End Effector

A peripheral device that attaches to a robot’s wrist, allowing the robot to interact with its task.

End Effectors

Mechanical or electromechanical and serve as grippers, process tools, or sensors.

End Effectors Serve As

Grippers, process tools, or sensors.

Main types of Mechanical Grippers

Parallel and Angular.

Elements of All Control Systems

The control, current amplifiers, and servo motors.

Open Loop Control

The controller is told where the output device needs to be but does not receive feedback.

Closed Loop Control

Provides feedback to the control unit telling it the actual position of the motor.

Joint Drive Systems

Electric, Hydraulic, and Pneumatic.

Electric Actuators

DC motor, Stepper motors, and Servo motors