RoboticsLecture9 - Robotics 10/14/10 (C) 2001, Ernest L....

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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 1 Robotics
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 2 Course objective To provide a broad understanding of the use of industrial robots And an experience in specifying, designing and presenting a new robot application in oral and written formats.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 3 SYLLABUS TOPIC 1. Realistic and Safe Use of Robots 2. Applications of Industrial Robots Project 3. Economic Justification Excel Template 4. Robot Implementation 5. Arm Configurations 6. Wrist Configurations 7. End Effectors and Tooling 8. Methods of Actuation 9. Non-servo Operation 10. Servo Controlled Robots 11. Cell Control, Hierarchical Design 12. Performance Measures Sample Report 1 - Welding Sample Report 2 - Painting Sample Report 3 - Soldering Sample Report 4 - Batch Manufacturing Sample Report 5 - Machine Loading 13. Joint Control Programming 14. Path Control Programming 15. High Level Languages 16. Simulation and Programming 17. Vision and Sensor Systems 18. Work Cell Interfacing; REPORT DUE 19. Intelligent Robot Cells 20. Flexible Manufacturing 21. FINAL ORAL EXAM
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 4 Objective Determine the relationship between various robot applications and the methods of controlling the path available on commercial robots or automated guided vehicles. Be able to distinguish between non-servo and servo motions. Be able to select the appropriate method of controlled path motion for a robot application.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 5 Plant System Human – not yet fully understood Machine – Linear and non-linear systems theory Man-Machine – Best of both Has both input and output - normally
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 6 Architecture of System Uncontrollable Example - sun Plant
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 7 Architecture of System Unobservable Example – black hole Plant
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 8 Feedback Control Feedback system – measurements compared to input and error used to drive plant Plant connection Sensors
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 9 Digital Motion Control Motion control is one of the technological foundations of industrial automation. motion of a product path of a cutting tool motion of an industrial robot arm conducting seam welding motion of a parcel being moved from a storage bin to a loading dock by a shipping cart The control of motion is a fundamental concern.
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(C) 2001, Ernest L. Hall, University of Cincinnati 10 Control theory Control theory is a foundation for many fields, including industrial automation. The concept of control theory is so broad that it can be used in studying the economy human behavior spacecraft design industrial robots
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This note was uploaded on 10/13/2010 for the course MINE 636 taught by Professor Hall during the Fall '06 term at University of Cincinnati.

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RoboticsLecture9 - Robotics 10/14/10 (C) 2001, Ernest L....

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