CS545_Lecture_15

CS545_Lecture_15 - CS545-Contents XIV Components of a...

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CS545—Contents XIV Components of a Robotic System Power Supplies and Power Amplifiers Actuators Transmission Sensors Signal Processing Linear filtering Simple filtering Optimal filtering Reading Assignment for Next Class See http://www-clmc.usc.edu/~cs545
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Power Supplies and Amplifiers Power Supply Primary source of power Electric Hydraulic Pneumatic Mechanical Power Amplifier Regulates the amount of power provided by the power supply Electric Usually current control Pulse-Width Modulation (PWM) Hydraulic & Pneumatic Electro-hydraulic (pneumatic) valves
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Power Supplies Examples Hydraulic Pumps
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Pulse Width Modulation A simplified example of pulse-width modulated (PWM) voltage supply to a magnetic circuit. The voltage (blue waveform) in a magnetic circuit is proportional to the rate of change of the flux density (red waveform). Therefore, by using PWM supply the resultant flux density can be controlled with relative ease. This method is commonly used for supplying electric motors, in which the torque is proportional to the flux density. As can
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CS545_Lecture_15 - CS545-Contents XIV Components of a...

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