Page 311 - Anatomy of a Robot

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296 INDEX
computer hardware (continued)
mass at heights (potential
reduced instruction set
performance and altering
energy) in, 31
computer (RISC), 100 characterizing robot maneuverability in, 57
design of, 41–48
redundant array of inexpensive closed loop, 26–39, 26, mass in design of, 40, 48
disks (RAID) in, 110–111 47–48, 48 mechanical stress in, 58
registers in, computation and coefficient of friction in design mechanical wracking and, 53,
storage, 98–99 of, 41, 45 55, 58
reliability of, 119 complementary metal oxide motor force in, 31, 276, 277,
removable storage media 278, 279
semiconductors (CMOS) in,
in, 111 moving mass (kinetic energy)
167–168
reprogramming in, 119 complexity in, 46 in, 31
resource utilization in, 118 multivariable, 58–67
computers for, 61
risks of, 74–75, 121 continuous vs. discontinuous nonlinear control elements in,
selection process for, 113–121 46, 51–52, 52
functions in, 51–52, 52
shareware and, 76 open loop, 24–26, 25
software tools and, 120 convergence and, 66 oscillation frequency (ringing)
cost function in, 63, 64–67
space requirements for, 119 and, 44–47
special purpose processors in, damping and, 32–35, 34, 35, overshoot in, 44, 46, 50
81–83, 118 36, 42–44, 42, 48, 50, 51 performance and, 50, 65
speed of execution in, 81–82 design of, 39–58 position in, 32–39
tape drives in, 111–112 digital actuators in, 53, 54, 55 power in, 57
temperature limits and, displacement (spring constant) quadratic equations in, 37–39
132–133, 133 in design of, 40–41 ratchet mechanisms in, 56
third-party hardware/software distributed, 22–24 reaction of robot vs. design of,
and, 76 dynamic response in, 29–39 40–41
time to completion, energy and power supplies in, resonant frequencies in, 45
engineering and, 77 30, 159–189 response time in, 43–44
voltage for, 119 errors in, 24–25, 25, 27–29, safety and, 57
word size in, 89–90, 117 27, 28, 64 second-order, 32–39, 42, 42,
concatenated codes, evaluation of, 64 43, 47–48, 48
248–252, 249 feedback in, 26, 48 sensors in, 55
connectors/connections, 111 force conversion in, 41 settling time in, 44
interference and, 142–143 force evaluation in, 31 solutions and problem solving
reliability and, 126–127 frameworks for, 61–63 for, 66–67
contaminants, 126, 135 space effects in, 69–71
frequency response and, 54–55
content addressable memory frequency selection in, 45 speed and, 57, 60–61, 67
(CAM), 97 spring constant in design of,
friction blocks in, 55
continuous vs. discontinuous friction force in, 31–32, 40, 40–41
functions, in control systems, springs (potential energy) and,
41, 45
51–52, 52 30, 31, 48, 49, 50–51, 55
gain changes in, 56, 56
control systems, 19–71 stability in, 45, 64, 66
acceleration in, 32–39, 57–58, headroom in, 50–51 steady-state error in, 64
hunting in, 53–56, 55
69–71 step input function in,
altering parameters of, hysteresis elements in, 29–30, 29
48–49, 65 55–56, 56 thermostats in, 52–53, 54
balance in, 58 iteration of computations in, time effects in, 67–68
cautions in, 57–58 61–62 traction and, 58
central, 24 Laplace transforms and, 37–39 undershoot in, 50
characteristic differential least mean square (LMS) variables controlled
equation in, 37–39 algorithm in, 62–65 simultaneously in, 64