New PDF release: A Textbook of Robotics 1: Basic Concepts

By Moshe Shoham (auth.)

ISBN-10: 1461598850

ISBN-13: 9781461598855

ISBN-10: 1461598877

ISBN-13: 9781461598879

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Additional info for A Textbook of Robotics 1: Basic Concepts

Sample text

The commands to the man's feet - whether to move forward or backward or stop - are given by the brain as information is transferred to the brain by the eyes. The eyes provide a flow of data on the man's present location; the brain compares this information with the number 'printed on the ticket and makes any necessary commands. As long as the two are not identical, the feet will continue to move, and will only stop when the man is standing in front of a seat whose number matches 58 The robot controller the one on the ticket.

This is true because oil, unlike air, is not compressible. That is, it does not change its volume as a result of changes in pressure. Can maintain high moment over long period of time without damage when stopped. The main disadvantages of hydraulic drive are: * * * * Requires an expensive energy source. Requires extensive, expensive maintenance. Requires expensive precision valves. Is subject to oil leaks from the system, creating a nuisance. 17: A prismatic hydraulic drive unit Pneumatic Drive These units are similar in structure to hydraulic drives.

Figure 4-1 shows the relationship between the various levels in performing a task - in this case, lifting an object. As we have indicated before, the third level of control we have just listed - coordination with the environmnet - is still in the experimental stages. We will discuss this topic in Chapter 9. Here, we will limit ourselves to the first two levels - actuator control and path control. Actuator Control Actuators are the units which cause motion of the robot axes. Each axis of motion of the robot arm includes, at least, a joint, a link, and an actuator.

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A Textbook of Robotics 1: Basic Concepts by Moshe Shoham (auth.)


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