A Textbook of Robotics 1: Basic Concepts by Moshe Shoham (auth.)

By Moshe Shoham (auth.)

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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. The comparisons we want to make are illustrated in Figure 3-14, and we will refer to this figure in calculating work envelopes at the end of this section. 14 (Continued) Work envelopes of various robot types 39 Basic Concepts The left-hand column of this figure shows a series of theoretical work envelopes. ) The middle column shows a schematic diagram of the motion of the three joints closest to the base of each robot type.

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. An axis including a motion transfer device is said to have indirect drive. An axis including a mit to identify relative link positioning is said to 56 The robot controller have closed-loop control, which will be explained in the next section of this discussion.

The principle of closed-loop control is applied in nearly all existing industrial robots. Very few work in an open-loop mode. Each joint, in closed-loop control, includes a feedback unit known as an encoder, which provides information on the relative positions of the links.

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