Basic Concepts of Manipulator Robot Control

Basic Concepts of Manipulator Robot Control

Sara Benameur, Sara Tadrist, Mohamed Arezki Mellal, Edward J. Williams
Copyright: © 2023 |Pages: 12
DOI: 10.4018/978-1-6684-5381-0.ch001
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Abstract

Robots presently occupy a large place in diverse activities. The robots currently in service are manipulator-type robots. They are often used in modern manufacturing processes to increase the production volume as well as to improve the quality of the product. This type of robot consists of a base, a carrier composed of segments, mobile joints expressed in the degree of freedom (rotoid and prismatic), actuator, sensor, and terminal organ. It is known that these systems have defects, such as insufficient accuracy, very slow reaction time, and instability. Furthermore, to adjust them, control systems are used: classic, dynamic, and adaptive. These commands need geometric, kinematic, and dynamic modeling of the studied systems. Most often, non-linear systems are transformed into linear systems using linearization methods. This chapter presents a short overview of robot manipulator control.
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Definition Of Manipulator Robots

A manipulator robot is a mechatronic device (combining mechanical, electronic, automation, and computer science) which automatically performs various tasks. It is a system designed to autonomously perform repetitive tasks in a fixed and ordered environment in which movements recorded in a memory are repeated cyclically (Isermann, 2005). It is position controlled, reprogrammable, and versatile with several degrees of freedom, capable of handling materials, parts, tools and specialized devices during the variable and programmed motion for execution. It is generally composed of two distinct subsets: a terminal organ and an articulated mechanical structure consisting of a set of solids, generally, one after the other where each solid is mobile relative to the previous one (see Figure 1) (Qin, 2013). This mobility is expressed in degrees of freedom.

Figure 1.

Manipulator robots.

978-1-6684-5381-0.ch001.f01
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Components Of Manipulator Robots

The different parts of a manipulator robot are illustrated in Figure 2.

Figure 2.

Parts of a manipulator robot.

978-1-6684-5381-0.ch001.f02

Base

The base of the manipulator is fixed at the workplace.

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