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Robot Controller

This document discusses robot controllers and control systems. It defines key terms like open loop and closed loop systems. A servo mechanism is described as an automatic device that uses error-sensing negative feedback to correct performance. Non-servo control systems are open-loop with no feedback, while servo control systems are closed-loop and can detect and correct errors. The document outlines different types of motion control for robots and discusses the hierarchy of servo control systems.

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36 views

Robot Controller

This document discusses robot controllers and control systems. It defines key terms like open loop and closed loop systems. A servo mechanism is described as an automatic device that uses error-sensing negative feedback to correct performance. Non-servo control systems are open-loop with no feedback, while servo control systems are closed-loop and can detect and correct errors. The document outlines different types of motion control for robots and discusses the hierarchy of servo control systems.

Uploaded by

damannaughty1
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Robot Controllers

(ECE 886)

Terms used
(Control) System
Open loop Closed loop

Feedback
Servo mechanism

What is a System?
A set of things working together as parts of a mechanism or an interconnecting network.

Characteristics:
Structure

Behavior
Interconnectivity May have functions

Classification:
Open Closed

Servo mechanism
Servo: dealing with position and its derivatives in time. It is an automatic device that uses error-sensing negative feedback to correct the performance of a mechanism.
Input Error detector Command Controlled Output

Feedback element

Controlled device Command device Error detector Comparator

Discussion
Robot control system

Motion control
Types of controls Programming

Control Systems

Components of a Robot

Basic level of hierarchical control

Non-servo control
Generally classified as open-loop system.

Simplest robots
Limited sequence, pick and place or fixed stop robots. No feedback to compare programmed position or actual position.

Bang-bang system
Examples?

Start

Stop

One-axis pneumatic non-servo robot system

Main features: Inexpensive Simple to understand and operate Precise and reliable Simple to maintain Capable of high speed operations Simple programming

Servo control
Closed loop Has feedback Intelligent Detects and corrects errors

Block diagram of a servo-controlled robot system

Motion Control
Point - to - point

Joint- Interpolated
Controlled Path Continuous Path

Hierarchy of Servo

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