Date post: | 14-Jul-2015 |
Category: |
Education |
Upload: | marco-castillo-garcia |
View: | 421 times |
Download: | 0 times |
IndexIndex
Control Control systemsystem: : definitiondefinition TypesTypes ofof control control systemssystems PartsParts ofof a control a control systemsystem Robots: DefinitionRobots: Definition Parts of a robotParts of a robot Types of robotsTypes of robots
Control system: DefinitionControl system: Definition A control system is a device capable of controlling A control system is a device capable of controlling
enviromental conditions. They normally detect an enviromental conditions. They normally detect an enviromental signal, compare it with a fixed value enviromental signal, compare it with a fixed value set by the user and act over it. set by the user and act over it.
Input signalControlSystem Output signal
Regulation signal
Input signalControlSystem Output signal
Regulation signal
Index
Types of control systems I: OpenTypes of control systems I: Open1: open (ciclo abierto)1: open (ciclo abierto)The performance of the system over the enviromental The performance of the system over the enviromental
condition has not feedback.condition has not feedback.We use a clock (time signal) to start or stop the performanceWe use a clock (time signal) to start or stop the performance The system is quite simpleThe system is quite simple The control over the signal is quite poor. We are not sure The control over the signal is quite poor. We are not sure
we reach the required valuewe reach the required value
Input signalControlSystem Output signal
Regulation signal
Input signalControlSystem Output signal
Regulation signal
Index
Types of control system: Real timeTypes of control system: Real time
2 real time (ciclo cerrado)2 real time (ciclo cerrado)There is a feedback. The There is a feedback. The
output signal is detected output signal is detected by the control system an by the control system an converted until the set converted until the set value is reachedvalue is reached
The system is more The system is more complex and expensivecomplex and expensive
High performance. There High performance. There is accuraccy controlling the is accuraccy controlling the enviromental condition.enviromental condition.
Input signalControlSystem Output signal
Regulation signal
Input signalControlSystem Output signal
Regulation signal
Index
Parts of a control system (real time)Parts of a control system (real time)
Sensor (detector): It Sensor (detector): It registers the input signal registers the input signal and generates a prportional and generates a prportional electric signal electric signal
Regulator: It compares the Regulator: It compares the input signal with the signal input signal with the signal set by user. It generates a set by user. It generates a signal proportional to the signal proportional to the difference between themdifference between them
Actuator: This component Actuator: This component acts over the enviromental acts over the enviromental condition. Actuators can becondition. Actuators can be
I.I. Electric receivers: bulbs, Electric receivers: bulbs, motors, resistances motors, resistances (heating)(heating)
II.II. Pneumatic (air): mechanic Pneumatic (air): mechanic movements, weak and fastmovements, weak and fast
III.III. Hidraulic (oil): mechanic Hidraulic (oil): mechanic movements, strong and movements, strong and slowerslower
Index
RobotsRobots A robot is a mechanical or A robot is a mechanical or
virtual artificial agent, virtual artificial agent, usually an usually an electromochanical machine electromochanical machine that is guided by a that is guided by a computer program or computer program or electronic circuitry.electronic circuitry.
Due to its appearance or Due to its appearance or automatic movements automatic movements robot can convey a sense robot can convey a sense of intelligence or thougth of intelligence or thougth of its ownof its own
Index
Why would we use robots?Why would we use robots?
We use robots toWe use robots to Repetitive tasks, such Repetitive tasks, such
as welding, as welding, screwdriving…screwdriving…
Dangerous tasks, such Dangerous tasks, such as desactivating as desactivating bombsbombs
Activities which Activities which humans can`t do due humans can`t do due to our sizeto our size
Activities in odd Activities in odd enviroments, unable enviroments, unable for humans.for humans.
Index
Are robots always better?Are robots always better?
Robots may be better for Robots may be better for repetitive, accurate or repetitive, accurate or dangerous tasks butdangerous tasks but
Robots haver not a Robots haver not a thougth of their ownthougth of their own
Robots can not improvise. Robots can not improvise. If there is an unpredicted If there is an unpredicted problem, they won’t be problem, they won’t be able to perform a taskable to perform a task
Robot’s capacity to interact Robot’s capacity to interact with people is limited.with people is limited.
Index
Parts of a robotParts of a robot
We can consider a We can consider a robot as a control robot as a control system where the system where the actuator is a actuator is a kinematic chain. kinematic chain. Therefore we haveTherefore we have
DetectorsDetectors Computer: controls Computer: controls
the devicethe device Kinematic chain: Kinematic chain:
Index
Types of robotsTypes of robots
Robots can be Robots can be classified according classified according to many to many parameters:parameters:
Movement Movement Coordinates.Coordinates.
Where they workWhere they work
Index
Types of robots: Moving Types of robots: Moving coordinatescoordinates
Cartesian robots Cartesian robots are those which are those which move according to move according to x-y-z coordinatesx-y-z coordinates
Polar or cylindrical Polar or cylindrical robots can describe robots can describe a circular a circular movement in a movement in a plane as well as a plane as well as a linear one which is linear one which is perpendicular to itperpendicular to it
Index
AndroidsAndroids An android is a robot An android is a robot
with a human with a human resemblance. They try resemblance. They try to imitate human to imitate human movements and movements and actions. actions.
They can consist of a They can consist of a human like part, such human like part, such as an arm or either a as an arm or either a whole human body.whole human body.
Androids are still Androids are still under developementunder developement
Index