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The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators.
Assistant Professor Dept. Is robotics an automation? What is flexible automation? How DOF may are required to position an end effectors at any point in 3-D space?
Describe various types of work envelopes Define each type Chapter 2 - Robot Kinematics Describe forward and inverse kinematics scheme. Deduce matrix for n-DOF manipulator Chapter 3 - Robot Drives, Actuators and Control Chapter 4 - Robot End-Effectors Chapter 5 - Sensor and Intelligent Robot Give examples Describe five important characteristics of a sensing device Draw and discuss How it works?
Describe three functions of its operation Chapter 6 - Robot Language and Programming Mention their developers and their relative merits and demerits A new type of automation technology has become available that is adjustable, adaptable and flexible enough not only to the change in the design of the product, but also to the change in the process of manufacture of the products.
When a machine is made to act or perform tasks similar to those done by a human being in sub-human working environment, it has to be flexible. Hand Note of Robotics Technology 4. Programmable automation uses information technology and numerical engineering to provide coordination, machine control and communication through computers in the most effective way.
Jacquard introduced an automatic loom with punched card control mechanism. Hand Note of Robotics Technology 6. Another robot programming language AL was developed in Hand Note of Robotics Technology 8. Second Law : A robot must always obey human being unless it is in conflict with the first law. Hand Note of Robotics Technology A base-fixed or mobile. A manipulator arm with several degrees of freedom DOF. An end-effector or gripper holding a part or a tool.
Drives or actuators causing the manipulator arm or end-effector to move in a space. Controller with hardware and software support for giving commands to the drives. Sensors to feed back the information for subsequent actions of the arm or gripper as well as to interact with the environment in which the robot is working.
Interfaces connecting the robotic subsystems to the external world. How DOF may are required to position an end-effectors at any point in 3-D space? Describe various types of work envelopes. Define each type. Point-to-point control 2. It can take heavy loads. It has relatively low payload. It provides greater power and 2.
It provides low power and torque. Using Electro hydraulic valves 3. Using Electrical amplifier and are quite expensive. Deduce Tn matrix for n-DOF manipulator. The y i axis is normal to xi , and z i. Translate a distance a i along the x i axis so that the two origins coincide.
Chapter 3 Robot Drives, Actuators and Control. A robotic end-effector which is attached to the wrist of the robot arm is a device that enables the general-purpose robot to grip materials, parts and tools to perform a specific task.
The other types of end-effectors employ some physical principle like magnetism or vacuum technology to hold the object securely. Electric, 2. Pneumatic, 3. Chapter 5 Sensor and Intelligent Robot.
Give examples. Searching, recognizing, grasping and placing the object are, therefore, some of the important steps to be done by a robot in a pick and place operation for which various sensors-both internal and external-are incorporated. However, the signals or sensory data obtained through the sensors must be processed, interpreted and integrated properly in a robot controller so that the robot can effectively and reliably perform the task. Describe five important characteristics of a sensing device.
The device should not disturb or have any effect upon the quantity it senses or measures. The device should be suitable for the environment in which it is to be employed. Ideally, the device should include isolation from receiving excess signals or electrical noise that could give rise to the possibility of misoperation or damage of the sensor, circuit or system. Also important are the physical size, cost and ease of operation.
Draw and discuss. Proximity sensors based on electrical fields are commercially available. Describe three functions of its operation.
The relationships between the three functions are illustrated in Figure 5. Mention their developers and their relative merits and demerits. Stewing and straight line motions controls are available with most of the languages.
However, in all the robot languages, features like editor, interpreter, compiler, data management, debugging are common. First generation language 2. Second generation language 3. World modeling and task-oriented object level language. The program and control methods are actuated through software running on an operating system in which manipulation of data takes place. Monitor mode 2.
Run mode or execute mode 3. Suppose the robot has been programmed to describe a path beyond the defined envelope, the robot cannot move and the monitor will exhibit some error message.
In order to grip some objects, the end-effector is required to align such that its Z-axis is parallel to the nearest axis of the World Coordinate System. If the opening is less than the amount of 20 mm, the program, branches to the statement THEN transfers control to a program step depending on a relationship conditions being true or false. The next program steps after END are continued. When the reaction or specified signal transition is detected, the program control is transferred to the subroutine named TRAY.
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Robotics Technology and Flexible Automation, Second Edition. S. R. Deb; Sankha Deb. ISBN: Publication Date & Copyright: McGraw.
S R Deb obtained his B. D degrees from Jadavpur University, Kolkata. Dr Sankha Deb obtained his Ph. Account Options Sign in. Top charts. New arrivals.
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The system can't perform the operation now.