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54 Cards in this Set
- Front
- Back
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Robot |
Reprogrammable device that can perform mechanical action |
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Mobile Robot |
Any robot that possesses mobility with respect to a medium or domain |
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Autonomy |
Object that operates without OVERSIGHT or CONTROL |
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Intelligent Robot |
Robot capable of reasoning |
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Subsystems of Robotics |
Mechanical Electrical Sensing Software |
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Microprocessor Clock speed |
Cycle speed at which system can run it's functions (PROCESSING POWER) |
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Microprocessor RAM |
Random access memory, how much data can be processed to run function |
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Interruptible pins |
Capable of stopping processing to handle signal change |
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DC Motor Performance |
As speed increases, torque decreases |
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Brushed Motors |
Brushes on axis in the middle rotates within electromagnetic field of magnets on outside |
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Brushless Motor |
Fixed magnets inside rotate around electromagnetic field created by coils on outside |
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Servos |
Gears turned by a motor with absolute position that provide an accurate change in position with the use of a potentiometer |
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Linear actuators |
Create linear movement (limited motion) |
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Encoders |
Measure angular position/velocity |
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How many states in Quadrature Encoder |
4 states |
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Optical encoder |
Use light to sense, generate pulses and two output channels to sense position |
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How many states in a pulse |
4 states |
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Encoder Resolution |
Given in pulse per rev (500 PPR) In Quadrature Encoder, 4 States in 1 Pulse; 500 PPR x 4 States = 2000 counts/rev |
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Absolute encoders |
Use gray code for increase accuracy |
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Localization |
Determining the pose (position + orientation) of robot in desired reference frame |
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Approaches to localization |
Keyword: ODAL Odometry (encoder) Dead reckoning (compass, gyro) Active beacon (GPS) Landmarks |
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MEMS |
Micro Electro Mechanical Systems |
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Soft Iron |
Electrical interference (AVOID) |
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Hard Iron |
Physical objects (motors, battery) |
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Problem with Accelerometer |
Very noisy and worsened when integrated |
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What can measure Inclination and Vibration |
Accelerometer |
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Key component to inertial navigation |
Gyroscope |
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Three types of Gyros |
MEMS: Cheap Fly Wheel: Big, can gimbal lock Laser: Expensive |
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Inertial Measurement Unit (IMU) |
3, 6 or 9 axis units that incorporate a combo of accel. gyro and magnetometer |
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IMU Placement |
Location with LEAST electro magnetic interference |
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Active beacons |
Emit energy/signal that is read by onboard sensors |
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Triangulation |
Fix provided by multiple beacons and know locations |
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GPS Errors |
Multipath - inner city Obstructions - trees/ clouds Ionospheric/tropospheric - slow speed of light |
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Circular Error Probable (CEP) |
Reports accuracy of GPS |
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Differential GPS |
Takes difference of distances between fixed base stations and you |
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Inertial Navigation System (INS) |
An IMU with GPS (GPS INS) which uses inertial connections to fill in the GPS gaps |
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Most proccesive intensive mode of localization |
Landmark |
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SLAM |
Simultaneous Localization and Mapping: uses landmarks and saves information to map and localize while moving |
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Stepper Motor |
Type of Brushless motor that divides full motor rotation into steps that can be precisely measured |
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3 Types of Actuators |
Pneumatic Hydrolic Electrical |
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How do encoders determine rotational direction |
The sequence of code sensed in a pulse |
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UGV |
Unmanned Ground Vehicle |
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ASV |
Autonomous Surface Vehicle |
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Kinematics |
Position & Velocity Estimations |
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How does Kinematics differ from Dynamics |
Dynamics measures Forces and Accelerations |
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Forward Kinematics |
Given geometry of robot and velocity of wheels how does it move |
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Inverse Kinematics |
Given where robot needs to move to and robot geometry, what wheel velocities required for motion |
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Differential Steering |
2 drive wheels with caster |
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Skid Steering |
Wheeled and tracked, wheels slip and slide |
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Ackerman Steering |
Front Wheel rotates |
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4 wheel steering |
front and rear wheels rotate |
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Kinematic Assumptions |
Wheels not deformable No slipping, skidding, sliding No friction for rotation Wheels connected by rigid frame |
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Instant Center of Rotation |
If no assumptions violated, robots are seen to be rotating around a single point at a snap shot in time |
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VTOL Robots |
Vertical Take Off and Landing |
