Lecture

Robot Controller: Hardware Overview

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Description

This lecture covers the hardware components used to control robots, including relays, digital inputs/outputs, sensors, amplifiers, memory, and communication interfaces. It explores examples of motherboard-based architectures, analog servo-amplifiers, and bus-less CPU boards. The lecture also discusses digital communication methods, industrial communication buses (Fieldbuses), such as CANopen, Profibus, and EtherCAT, and their topologies. Additionally, it delves into cascaded controllers for motion control and the advantages of using fieldbuses, emphasizing reduced wiring and increased information transmission. The presentation concludes with an example of an all-in-one micro-controller robot controller, highlighting its components and functionalities.

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Related concepts (31)

Fieldbus

A fieldbus is a member of a family of industrial digital communication networks used for real-time distributed control. Fieldbus profiles are standardized by the International Electrotechnical Commission (IEC) as IEC 61784/61158. A complex automated industrial system is typically structured in hierarchical levels as a distributed control system (DCS). In this hierarchy the upper levels for production managements are linked to the direct control level of programmable logic controllers (PLC) via a non-time-critical communications system (e.

Motherboard

A motherboard (also called mainboard, main circuit board, MB, mboard, backplane board, base board, system board, mobo; or in Apple computers logic board) is the main printed circuit board (PCB) in general-purpose computers and other expandable systems. It holds and allows communication between many of the crucial electronic components of a system, such as the central processing unit (CPU) and memory, and provides connectors for other peripherals.

Amplifier

An amplifier, electronic amplifier or (informally) amp is an electronic device that can increase the magnitude of a signal (a time-varying voltage or current). It is a two-port electronic circuit that uses electric power from a power supply to increase the amplitude (magnitude of the voltage or current) of a signal applied to its input terminals, producing a proportionally greater amplitude signal at its output. The amount of amplification provided by an amplifier is measured by its gain: the ratio of output voltage, current, or power to input.

Industrial control system

An industrial control system (ICS) is an electronic control system and associated instrumentation used for industrial process control. Control systems can range in size from a few modular panel-mounted controllers to large interconnected and interactive distributed control systems (DCSs) with many thousands of field connections. Control systems receive data from remote sensors measuring process variables (PVs), compare the collected data with desired setpoints (SPs), and derive command functions that are used to control a process through the final control elements (FCEs), such as control valves.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

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