CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier...
Transcript of CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier...
![Page 1: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/1.jpg)
CS545—Contents XIV
• Components of a Robotic System– Power Supplies and Power Amplifiers
– Actuators
– Transmission
– Sensors
• Signal Processing– Linear filtering
+ Simple filtering
+ Optimal filtering
• Reading Assignment for Next ClassuSee http://www-slab.usc.edu/courses/CS545
![Page 2: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/2.jpg)
Power Supplies andAmplifiers
• Power Supply– Primary source of power
+ Electric
+ Hydraulic
+ Pneumatic
+ Mechanical
• Power Amplifier– Regulates the amount of power provided by the
power supply+ Electric
uUsually current control
uPulse-Width Modulation (PWM)
+ Hydraulic & PneumaticuElectro-hydraulic (pneumatic) valves
![Page 3: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/3.jpg)
Actuators
• Electric Motors+ Clean
+ Heavy (Torque motors)
+ Light & Transmission box
+ Need amplifier
• Hydraulic Motors+ Light weight
+ Heavy pump needed
+ Messy?
+ Strong!
+ Expensive
• Pneumatic Motors+ Light weight
+ Clean
+ Compliant
+ Need compressor
+ Not very strong
![Page 4: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/4.jpg)
Actuators (cont’d)
• Desirable Properties of Actuators– low inertia
– High power-to-weight ratio
– High acceleration
– Robust to overload
– Wide velocity range
– Positioning accuracy
– Smooth motion (no torque ripples, friction,stiction, etc.)
![Page 5: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/5.jpg)
Transmission
• Transmission Types– Gears
– Pullies and belts or chains
– No (direct drive)
• Properties– Backlash?
– Friction (not backdrivable)
– Amplification of inertia of motor
– Usually used for electric motors
– Transmission ratio up to 1:300 or more
![Page 6: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/6.jpg)
Sensors
• Sensor types– Tactile sensors
– Proximity sensors
– Range sensors
– Vision systems
– Position sensors (linear and rotary)
– Velocity sensors (linear and rotary)
– Acceleration sensors (linear and rotary)
– Force sensors (linear and torque)
• Analog and Digital sensors exist
• Absolute and Incremental sensors exist
![Page 7: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/7.jpg)
Potentiometers
• Pros– Cheap
– Small
– Linear and rotary version
– Absolute values
• Cons– Noisy
– Mechanical interaction
– Require Analog-to-Digital converter
– Medium resolution (12-16 bit)
![Page 8: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/8.jpg)
Optical Encoder
• Pros– High resolution (expensive)
– Low resolution (cheap)
– Very clean data
– No A/D conversion
• Cons– Expensive or low resolution
– Bulky
– Special hardware needed for counting (quadrature)
– Usually incremental (not absolute)
![Page 9: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/9.jpg)
Force Sensors
• Based on Strain Gages and Wheat-Stonebridge
• Properties– Noisy
– Require special hardware to mount (material that“stretches”
– Require careful mounting techniques
– Multiple strain ages are needed to make sensorymore noise and temperature resistant
![Page 10: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/10.jpg)
Data Filtering
• Noisy data need to be processed before itcan be used for controlling a robot
• Possible processing techniques:– Analog filtering
+ Requires special hardware
– Digital filtering+ Can be done on a computer
![Page 11: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/11.jpg)
Digital Filtering
• Mostly done by linear filtering
• Two special cases:– Finite Impulse Response Filter (FIR)
+ N=0, which means no recursive inputs
+ More easy to design
+ More robust
– Infinite Impulse Response Filter (IIR)+ N≠0
+ Can go unstable
+ More complex design (stability analysis is needed!)
+ Less robust
+ Better filtering properties
y c x d yn k n k
k
M
j n jj
N
= +-=
-=0 1
![Page 12: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/12.jpg)
Digital Filter (cont’d)
• Typical Filters– Butterworth
+ Matlab: “butter”
– Chebyshev+ Matlab: “cheby1” or “cheby2”
– Elliptic+ Matlab: “ellip”
![Page 13: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/13.jpg)
![Page 14: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/14.jpg)
![Page 15: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/15.jpg)
![Page 16: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/16.jpg)
![Page 17: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/17.jpg)
![Page 18: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/18.jpg)
![Page 19: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/19.jpg)
![Page 20: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/20.jpg)
![Page 21: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/21.jpg)
![Page 22: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/22.jpg)
![Page 23: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/23.jpg)
![Page 24: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/24.jpg)
![Page 25: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/25.jpg)
![Page 26: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/26.jpg)
![Page 27: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/27.jpg)
![Page 28: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/28.jpg)
![Page 29: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/29.jpg)
![Page 30: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/30.jpg)
![Page 31: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/31.jpg)
![Page 32: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/32.jpg)
![Page 33: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/33.jpg)
![Page 34: CS545—Contents XIVcs545/lecture_xv.pdf+Hydraulic +Pneumatic +Mechanical •Power Amplifier –Regulates the amount of power provided by the power supply +Electric u Usually current](https://reader036.fdocuments.in/reader036/viewer/2022071417/61155024cfb5055b1930b193/html5/thumbnails/34.jpg)