Chap1 Control challenges in robotics and automation¶
Abstract
- Basics of industrial automation
- Robots in complex manufacturing systems
- Structure and main components of a robot system
Introduction: Automation¶
Closed-loop control
Open-loop control(non-feedback control)
Introduction: Robotics¶
mechanical subsystems
- Vehicle or platform(coarse positioning)
- Manipulator(fine positioning)
- Endeffector
characterized by
- Kinematics/Dynamics( 运动学与动力学 )
- Actuators/Sensors( 驱动器与传感器 )
- Control system
- SW/User interface
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