Download Anatomy of a Robot by Charles M. Bergren PDF

By Charles M. Bergren

This paintings appears below the hood of all robot tasks, stimulating lecturers, scholars, and hobbyists to profit extra in regards to the gamut of components linked to keep an eye on structures and robotics. It deals a distinct presentation in delivering either idea and philosophy in a technical but interesting manner.

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You can perform another experiment if you have a dimmer in your home. Wait until dark and turn off the dimmer, making the room dark. Close your eyes and then turn on the dimmer to where you think the minimum acceptable reading light level is. Power Butt Infrared Signal TV Remote Power to TV TV FIGURE 2-3 Concatenated open-loop control systems FIGURE 2-4 The open-loop control error is large with eyes closed. 26 CHAPTER TWO Open your eyes and see how well you did. Likely as not, you won’t be satisfied with the light level because the steady state error will be too large.

Sometimes the mechanics or electronics are sensitive to specific frequencies of oscillation. This can happen if the mass in the model has a resonant mechanical frequency. Remember the bridge called CONTROL SYSTEMS 45 ■ Galloping Gerdie? It shook itself to pieces because the mechanical engineers missed damping out a resonant mechanical frequency. Talk about a failure to control damping. html for an interesting treatment of this particular mechanical failure. ■ More variables This brings up a good point.

The force might be rotational or linear. To keep matters simple, we’ll be looking at linear force, such as might be applied by a solenoid, which is an electromagnet with a moving metal core, much like Figure 2-23. ■ Moving mass force (kinetic force) Newton created the equation for force acting on a mass (or mass creating a force): F ϭ m ϫ A ■ where m is the mass and A is the acceleration (or deceleration). When gravity is the force providing the acceleration, A ϭ g and thus F ϭ m ϫ g, the force needed to hold up a mass m.

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