Introduction To Robotics S K Saha Pdf ((NEW))
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Introduction To Robotics S K Saha Pdf
Robots play a critical role in many aspects of daily life. It is an important component of biomedical engineering, the home automation, and space exploration. Robotics is currently a major interdisciplinary course in mechanical, electrical and computer science engineering. A robot is a robot that can perform some special functions, such as cleaning indoor surfaces, maintaining lawns, building structures, carrying human workers, & repairing electronic devices (Drukker et al., 1998; Lyu et al., 2006; Liu and Chen, 2006). Students should demonstrate an understanding of the basic mechanics of robots. It is critical that they understand how the mechanical design of the robot affects the functionality of the robot. Figure 1 shows a few aspects of a robot. For example, the design of a robot should provide safety. A robot with a bad design may easily injure a human worker. Ideally, the mechanical design of robots should be safe. It is also critical that students understand the concept of robotics. In this context, Robotics is a major interdisciplinary course in mechanical, electrical and computer science engineering. Students need to understand a variety of skills involved in the fabrication, inspection, and assembly of the robots. In addition to the design and fabrication, students have to understand the control of robot mechanisms (Saha, 2007). Students should demonstrate an understanding of the basic mechanics of robots. It is critical that they understand how the mechanical design of the robot affects the functionality of the robot. This chapter introduces the methods for a robot mechanism. The robot mechanism includes a frame, a servo drive, a mechanical design, a controller, and a power supply. Robots can be classified as wheeled, legged, aerial, and underwater robots. A robot is a device which is made to carry out some task that cannot be carried out conveniently by humans. Robots are made in many different shapes, such as planes, submarines, tanks, boats, cars, and roller skates. A roto-bot is an important component of many types of medical devices such as microsurgery, telerobotics, and circulatory assist devices. A typical robot includes three subsystems: control, drive, and sensing. The robots are controlled by computer programs called program- or driver-files. These programs are encoded into the robot. The drives are motors that can move a robot. A few types of motors are servo motors, DC motors, stepper motors, and brushless motors. A typical servo is shown in Figure 2. It is actuated by a motor. A controller regulates the speed and direction of the motors. Sensors are devices that measure the location of the robot and the environment. The outputs of the sensors are the inputs of the controller. Some robots can be controlled remotely and some robots cannot be controlled remotely. Feedback is the act of using the results of observations, measurements, or sensors to modify a system. Feedback is very important to the control of robots (Jain, 2008). Feedback is also very useful in automotive engines, airplanes, and helicopters. The systems are controlled by the programming of the robot. The programming of a robot is a sequence of steps or instructions that control the robots (Jain, 2008). The principles of robotics and a robotic simulator model were introduced in the previous chapter. All these topics were explained in simple terms in the previous chapters. This chapter covers the motion control of a robot. Motion control is very important to the successful operation of a robot (Jain, 2008). Motion control is widely used in almost every engineering. It plays an important role in robotics. Figure 3 shows the motion control of a robot. The motion control consists of a mathematical model and a block diagram. The mathematical model is used to predict the motion of a robot.