RoboticsLecture13 - Robotics(C 2001 Ernest L Hall University of Cincinnati 1 Course objective To provide a broad understanding of the use of

Info iconThis preview shows pages 1–10. Sign up to view the full content.

View Full Document Right Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 1 Robotics
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
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.
Background image of page 2
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 3 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 Quiz 1 Take Home 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
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
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 understand servo control for implementing controlled path motion for a robot application.
Background image of page 4
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 5 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.
Background image of page 5

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 6 Components The components of a typical servo controlled motion control system may include an operator interface motion control computer control compensator electronic drive amplifiers Actuator Sensors Transducers and the necessary interconnections. The actuators may be powered by electro-mechanical, hydraulic or pneumatic or a combination of these power sources.
Background image of page 6
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 7 Example Suppose a DC motor is used to drive a robot arm horizontally. Mg x y L A single joint robot arm driven by an armature-controlled DC motor horizontally z
Background image of page 7

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 8 Serial compensator G(s) H(s) R(s) C(s) - + E(s) F(s) C(s) = G c (s)G(s)E(s) F(s) = H(s)C(s) E(s) = R(s)-F(s) C(s) = G c (s)G(s)(R(s)-F(s) C(s) = G c (s)G(s)(R(s)-H(s)C(s)) C(s)=G c (s)G(s)R(s)-G c (s)G(s)H(s)C(s) C(s)(1+G c (s)G(s)H(s))=G c (s)G(s)R(s) C(s)/R(s) = G c (s)G(s)/(1+G c (s)G(s)H(s)) G c (s) E(s)
Background image of page 8
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 9 Compensator added θ m (s) s θ m (s) Ia(s) T(s) output 180/ π rad 2 deg1
Background image of page 9

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Image of page 10
This is the end of the preview. Sign up to access the rest of the document.

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.

Page1 / 84

RoboticsLecture13 - Robotics(C 2001 Ernest L Hall University of Cincinnati 1 Course objective To provide a broad understanding of the use of

This preview shows document pages 1 - 10. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online