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    0 Robot Anatomy

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    CHW
    The document summarizes the basic components of robots including mechanical linkages, actuators, sensors, controllers, and power sources. It then describes the anatomy and dynamics of a single-axis robot manipulator, including the relationship between motor torque and angular velocity based on gear ratio. It discusses DC motor dynamics and characteristics as well as the control and disturbance rejection of a single-axis robot using proportional and proportional-derivative control.

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    0 Robot Anatomy

    Uploaded by

    CHW
    77 views12 pages
    The document summarizes the basic components of robots including mechanical linkages, actuators, sensors, controllers, and power sources. It then describes the anatomy and dynamics of a single-axis robot manipulator, including the relationship between motor torque and angular velocity based on gear ratio. It discusses DC motor dynamics and characteristics as well as the control and disturbance rejection of a single-axis robot using proportional and proportional-derivative control.

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    The document summarizes the basic components of robots including mechanical linkages, actuators, sensors, controllers, and power sources. It then describes the anatomy and dynamics of a single-axis robot manipulator, including the relationship between motor torque and angular velocity based on gear ratio. It discusses DC motor dynamics and characteristics as well as the control and disturbance rejection of a single-axis robot using proportional and proportional-derivative control.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    77 views12 pages

    0 Robot Anatomy

    Uploaded by

    CHW
    The document summarizes the basic components of robots including mechanical linkages, actuators, sensors, controllers, and power sources. It then describes the anatomy and dynamics of a single-axis robot manipulator, including the relationship between motor torque and angular velocity based on gear ratio. It discusses DC motor dynamics and characteristics as well as the control and disturbance rejection of a single-axis robot using proportional and proportional-derivative control.

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    You are on page 1of 12

    機器人的構成

    構成基本元件
    • 機械連桿 ------- 骨骼、關節
    • 致動器、傳動機構 ------ 肌肉、肌腱、韌帶
    • 感測器 ------- 皮膚、感官
    • 控制器 ------- 腦
    • 動力源 ------- 食物、 熱量
    Anatomy of Robot Manipulators

    m
    m Fig. 1: A single-axis robot

    Let r>1 be a gear reduction ration (If d1 and d2 are diameters of the two
    gears, the gear reduction ration is r=d2/d1). The torque and angular
    velocity are changed to:
    (1)

    where τload and ωload are the torque and angular velocity at the joint axis,
    and τm and ωm are the torque and angular velocity at the motor shaft.
    (2)

    (3)
    DC Motor Dynamics

    Fig. 2: Schematics of a DC motor

    (4)
    The electric power, given by Ei, should be equal to mechanical power

    (5)

    4 5

    (6)

    Fig. 3: Electric circuit of a DC motor


    3

    (7)

    4 6 7

    (8)

    (9)
    (10)

    m
    where is the motor constant. Note: K m 
    Pout

    Fig. 4: Torque-Speed and Power-Speed Characteristics of a DC motor


    Dynamics of a Single-Axis Robot

    (11)

    (12)

    d (13)

     d : The disturbance torque acting on the robot link


    Consider load  0. We can maximize  load by choosing a proper r .

    By (13) k  r  Kt / R 
    max load  max   umax  max 
     
     Il  r Im 
    2
    r r
    I r

    Il
    ropt 
    Im
    Control of a Single-Axis Robot
    System dynamics in transfer function form:

    k 1
     ( s)  u ( s )   d ( s)
    Is  Bs
    2
    Is  Bs
    2

    where  is the angle of the robot link and   load .

    u   K p ( r   ) u   K p ( r   )  K v

    Single-axis robot under P control Single-axis robot under PD control


    Plant
    d

    r   u   
    Kp 1 1
    k 
      Is  B s

    Kv

    Fig. 5: Block Diagram of a Single-axis Robot under PD control


    If  d  0  ( s) kK p n2
     
     r ( s ) Is 2  ( B  kK v ) s  kK p s 2  2n s  n2

    kK p B  kK v
    where n  ,  .
    I 2 kK p

    One can choose n ,  or K p , K v based on specifications on rise time, settling


    time, maximum overshoot and so on.
    Disturbance Rejection:
     ( s ) 1
     2
     d ( s ) Is  ( B  kK v ) s  kK p

     d  FL, Δx  LΔ
    F
    When  d  FL is constant, at steady state (by
    x final value theorem)
     1 x / L
     
     d kK p FL
    L
    or
    kK p
    F x
    L2
    kK p
    where L2 is the static stiffness.

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