Components used for robot actuation and feedback

In a robot, some of the devices are used as the components of a robot control system for providing feedback and control actions in order to control the manipulator. Such devices are:

Feedback devices:

  • Position Sensors
  • Velocity Sensors

Actuation devices:

  • Actuators
  • Power Transmission Systems

Position and Velocity Sensors:

Position sensors are the feedback devices used to find out the accurate movement of joints for accomplishing the required direction and position of the end effector. A robot requires velocity sensors for controlling the speed of the manipulator movement. Position sensors use several devices such as resolvers, potentiometers, and encoders for sensing the position, while the velocity sensors include dc tachometer for providing appropriate speed.

Every single robot requires feedback devices for delivering accurate speed control. Even the recently developed complicated control system also hardly relies on these devices for gaining better performance of the robot manipulator in some tasks like deceleration and acceleration.

Actuators and Power Transmission Systems:

A controller uses the actuators and power transmission systems for achieving the control actions. As a result, these devices help in generating power for moving the robot arm.

The actuators are used to provide power to the robot joints with the help of the power transmission systems. In some cases, the power transmission systems will not be required if the actuators are attached with the robot joints itself. Some of the devices that are used as the actuators are pneumatic, hydraulic, and electric. The power transmission systems make use of gears, screws, and pulleys for performing this mechanism.

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