Introdução aos Sistemas Robóticos: Estruturas, Componentes e Funcionalidades

Controle de Sistemas Robóticos Parte 1 Introdução Características de um robô interação com o mundo físico sensoreamento das informações do mundo físico tomada de decisões baseadas nas informações adquiridas interface amigável com seres humanos reprogramável seguro leis de Asimov Anatomy of a robot Basic components the mechanical linkage actuators and transmissions sensors controllers user interface power conversion unit Anatomy of a robot Manipulator linkage The manipulator consists of a set of rigid links connected by joints The joints are typically rotary or sliding The last link or the most distal link is called the end effector because it is this link to which a gripper or a tool is attached Sometimes one distinguishes between this last link and the end effector that is mounted to this link at the tool mounting plate or the tool flange The manipulator can generally be divided into a regional structure orientational structure The Seiko RT33 An industrial robot with a spherical workspace