Introduction to Robotics Part 1 Direct Control Robots and Robotic systems

Introduction to Robotics Part 1

Direct Control Robots and Robotic systems.

Systems

“Humans must be able to create, control and monitor

systems.”

Definition System:a group of

parts/machines working together to perform a taskTwo types of systems-a. natural-human body,weather and

ecosystems.Can only be monitored by humans

b. Technological-human made to solve problems

Sub Systems Smaller system(s) operating as part of a

larger system.Ex. System =Laptop computer

Subsystem=Keyboard, flat monitor, controller and speakers

Open loop system

Open Loop System: a system designed to do a task repeatedly without being able to adjust itself.

Lamp Mouse trap

Door handle Clock

Process OutputInput

Parts of a System

Input: the goal you want to achieve

Process OutputInput

Process: Action part of system

Output: The actual result of a system

What is a “Robot” Robot- A machine that is able to

interact with and respond to its environment. characterized by three central capabilities: the ability to Sense (input), the ability to Plan (process), and the ability to Act (output).

What is Direct Control?

Direct Control- A machine or system that is unable able interact with and respond to its environment with out human involvement

In other words humans are the part of the system.

An example is an RC car. It can not move without us telling it to move.

Where is the applicable?

Medical Field

Law Enforcement/ Military

Exploration

Mars Rover Sewerbot

Manufacturing

AND MUCH MORE!

Human Robot We will need a volunteer to be our

robot. The robot will have to keep there eyes closed and move slowly during this exercise.

The robot is only allow to do what the operator tells it to do.

We also need a volunteer to control or robot.

Controlling the Human Robot Place your hand on the right shoulder of the robot to

move the robot right.

Place hand on the left shoulder to move the robot left.

Place hands on both the left and right should to move the robot forward.

The robot is only allowed to move when the controller give it a command.

Lets try it out!

Closed loop systemClosed Loop System: designed to do a task and check for errors, then it will try to correct the errors.

Input OutputProcess

Vehicle uses motors tomove forward and follow black line

-Drive motor B & C forward-Wait for darker-Drive motor A backward-Wait for lighter

Car follows black line

Feedback/Monitor

Robot checks for black line

Feedback/Monitor Compares the output to the input. If

the output does not match the input this device will modify the process so that our desired result occurs.

Modern Feedback Loops Made up of three parts

Sensors-used to observe output of the system(monitor)

Comparators- compares actual output to the command input (compare)

Controllers- Modifies the process by turning it on and off or by adjusting it (adjust)

Sensor types:(monitor)

Thermal opticalelectrical

magnetic mechanical

Comparators:(Compare)

Human brain-Decides

Computer/computer chip-

Artificial intelligence

Transducer-

senses and compares

Controllers- adjust the process

Human operator electrical mechanical

hydraulicspneumatics