User talk:Mechanical experts
Robot is advanced integrated control theory, mechanical electronics, computers, materials and the product of bionics. In industrial , Medicine, agriculture, construction and even the military have important applications in other fields. Now, the international robot concept has been gradually approaching the same. In general, people can accept this argument, that the robot is controlled by its own power and ability to achieve the various functions of a machine. United Nations Organization for Standardization adopted the American Association for the robot to the robot's definition: "A programmable and multifunctional manipulator; or to perform different tasks changes with available computer systems and programmable action specifically." The robot the ability of the evaluation criteria include: intelligence, refers to the feeling and perception, including memory, calculation, comparison, identification, judge, decision-making, learning and logical reasoning; function, refers to the flexibility, versatility or space occupied, etc.; physical energy , refers to the force, speed, reliability, combined with nature, life and so on. Therefore, we can say that the robot is the actual biological function of space to run tools that can replace humans completed a number of dangerous or difficult labors, tasks. Robots are generally implementing agencies, drive, testing devices and control systems and complex mechanical and other components. The robot body, its general use space for open-chain arm linkage, one of the deputy campaign (revolute or prismatic pair) often referred to as Robot tech products (19) Joint, the joint is usually the number of degrees of freedom robot. According to the joint coordinates of the configuration type and the different forms of movement, the robot actuators can be divided into rectangular type, style cylindrical coordinates, polar coordinates of type type and other types of joints. For anthropomorphic considerations, often the relevant parts of the robot body are known as base, waist, arm, wrist, hand (gripper or end effector) and the Ministry of walking (for mobile robot), etc. . Movement is driven actuator body, in accordance with the directives issued by the signal control system, power components, the robot by means of action. It is the input signal, the output is linear, angular displacement. Drive the robot is mainly used in electric devices, such as stepper motors, servo motors, etc. There are also hydraulic and pneumatic drives. Real-time detection of the robot and work of the feedback needed to control the system, comparing the information with the set of actuator to be adjusted to ensure the robot's actions meet the intended requirements. As a detector sensor can be divided into two categories: one is internal information sensor for detecting the internal state of the various parts of the robot, such as the joint position, velocity, acceleration, and the measured information as a feedback signal to the controller, the formation of closed-loop control. Used to obtain information about the robot's operating environment, objects and external information to the robot's movements to adapt to changing circumstances, so as to achieve a higher level of automation, even the robot has a "feel", to the intelligent development, such as visual, sound and feel the work is given an object such as external sensors, information about the working environment, use the information to constitute a large feedback loop, which will greatly enhance the accuracy of the robot's work. One is the centralized control, that is all the robot control by a microcomputer to complete. The other is the dispersion (level) control, which uses more than one computer to share control of the robot, such as when using the upper and lower two together to complete the robot's control computer, the host used to be responsible for the management, communication, kinematics and dynamics calculations, computer sends instructions to the lower levels of information; as a subordinate from the machine, each joint corresponding to a CPU, the interpolation and servo control processing operations to achieve a given movement, the feedback information to the host. According to the requirements of different job tasks, the robot's control point can be divided into control, continuous path control and force (torque) control.
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