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Robotics Notes

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32 views

Robotics Notes

Uploaded by

GIE-KUNシ
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Here’s a concise set of robotics notes covering essential concepts:

1. Introduction to Robotics

 Definition: Robotics is the design, construction, operation, and use of robots for tasks
traditionally performed by humans.

 Key Components:

1. Sensors: Gather data from the environment (e.g., cameras, lidar, gyroscopes).

2. Actuators: Enable movement (e.g., motors, servos, hydraulic systems).

3. Controller: The "brain" that processes data and decides actions (microcontrollers like
Arduino or processors like Raspberry Pi).

4. Power Supply: Provides energy (batteries, solar panels, etc.).

2. Types of Robots

 Industrial Robots: Perform tasks like assembly, welding, or painting.

 Mobile Robots: Move through an environment (e.g., drones, autonomous vehicles).

 Humanoid Robots: Resemble human shape and perform human-like tasks.

 Service Robots: Assist with everyday activities (e.g., cleaning, medical robots).

 Swarm Robots: Work collectively, inspired by natural systems like ant colonies.

3. Kinematics and Dynamics

 Kinematics: Study of motion without considering forces.

o Forward Kinematics: Calculates the position of the robot’s end-effector given joint
angles.

o Inverse Kinematics: Determines joint angles required for a desired position of the end-
effector.

o Transformation Matrices: Represent rotation and translation in 3D space (using tools like
homogeneous coordinates).

 Dynamics: Focuses on forces causing motion (e.g., torque, inertia).

4. Control Systems
 Open-Loop Control: No feedback; relies on predetermined commands (e.g., simple timers).

 Closed-Loop Control: Uses feedback (e.g., PID controllers) to correct errors in motion or
positioning.

o PID Control: Proportional (P), Integral (I), Derivative (D) terms adjust the control effort:
u(t)=Kpe(t)+Ki∫e(t)dt+Kdde(t)dtu(t) = K_p e(t) + K_i \int e(t) dt + K_d \frac{de(t)}{dt}

 Path Planning: Algorithms for navigating a robot efficiently through an environment (e.g., A*,
Dijkstra's algorithm).

5. Sensors and Perception

 Common Sensors:

o Proximity Sensors: Detect nearby objects (e.g., ultrasonic, infrared).

o Vision Sensors: Cameras for image processing (e.g., object recognition, SLAM).

o Inertial Measurement Units (IMUs): Measure acceleration and angular velocity.

o Lidar and Radar: Map environments using light or radio waves.

 SLAM (Simultaneous Localization and Mapping):

o Combines sensor data to build a map of an environment while tracking the robot's
position within it.

6. Actuators

 Types:

o Electric Motors: DC motors, stepper motors, and servos for precise control.

o Hydraulic and Pneumatic Systems: Provide powerful movements.

o Soft Actuators: Flexible materials mimicking natural movement.

 Degrees of Freedom (DoF):

o The number of independent movements a robot can perform. More DoF allows for
complex tasks.

7. Artificial Intelligence in Robotics

 Applications:

o Object recognition, speech processing, and decision-making.


 Machine Learning:

o Supervised Learning: Trained with labeled data (e.g., recognizing objects).

o Reinforcement Learning: Robots learn optimal actions through rewards and penalties.

 Neural Networks:

o Used for complex pattern recognition, such as visual processing or grasp planning.

8. Communication and Networking

 Wired Communication: Ethernet, USB for high-speed data transfer.

 Wireless Communication: Wi-Fi, Bluetooth, or ZigBee for mobility.

 IoT in Robotics: Internet-connected robots for remote monitoring and control.

9. Ethical and Practical Considerations

 Ethics:

o Ensure robots enhance safety and do not harm humans.

o Address job displacement concerns and privacy issues.

 Design Challenges:

o Battery life, processing power, and adaptability in unpredictable environments.

This overview provides a foundation in robotics. Let me know if you'd like deeper insights into any
specific area!

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