Understanding Automation and Robotics: Key Concepts Explained
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• Automation: A set of elements that performs actions based on information from their sensors, without the intervention of a human.
• Robot: A programmable machine that can perform various tasks with mobile elements that follow trajectories previously drawn or decided by the robot based on data provided by onboard sensors.
• Control System: The component responsible for controlling and directing the actions of the robot. The electronic systems are complex and include one or more computers. By introducing computer programs, the actions of the robot are controlled.
• Open Loop: A system for which the automated exit has no influence on its behavior and has no feedback.
• Feedback Loop: Automatic variables that capture the atmosphere and compare the output signal. If they do not match, the action of the actuator is modified.
• Darlington Pair: This improves the sensitivity of the sensors (longer distance detection, faster drop detection, etc.) by connecting two transistors. Some are already integrated.
• Chain Links: Rigid parts of a robot.
• Joints: Connect two links.
• Drives: Transmit movement to the joints of the robot. Movement types include pneumatic systems (compressed air) and hydraulic systems (using water or oil).
• Types of Joints:
- Prismatic: Linear movements in one direction.
- Swivel: Can perform rotational movements.
• CNY70: Built-in emitter/receiver capsule. It continues on the line of the robot with a background color opposite. It can reach a few millimeters and reflects the emitter's signal when another color is present, causing the relay to vary position and the wheel to spin.
• TSUS5400: Emitter. BPW40 receiver. More powerful. The transmitter emits rays when it meets an object, which returns to the receptor, activating the relay and varying the robot's position to avoid collisions.
• Examples of Robots in Industry: Nuclear power, precision engineering, and space exploration.
• Control System Goal: To detect any conditions of the environment and, based on the detected values, take action in response.
| 1. Input Signal | (Sensor, LDR, NTC, etc.) Terms obtained from abroad through a sensor. |
| 2. Reference Signal | (Potentiometer) The value that is compared with the input signal. |
| 3. Comparator | (Darlington Pair) Compares 1 with 2. When the difference exceeds a certain value, the transistor goes to saturation, cutting the area, and this difference indicates. |
| 4. Control Elements | (Transistor + Relay) Activated to relay the signal received from 3, changing the position of contacts. |
| 5. Output Signal | 4 broadcasts to 5, which serves about 6. |
| 6. Actuator | (Any) Element that fixes the 7. |
| 7. Controlled Variable | The system inspects the intention to act accordingly. Each system can handle a variable, such as light, temperature, etc. |
| 8. Feedback | Is carried out when 8 is continuously on 7. This can detect changes, and when there are, send them as 1, and the process begins again. |