Hardware Software Mechanics

• Low Voltage/Current

• Analyse data and drives actuators

• Logic circuits and sensors

• Higher Voltage/Current

• Supply power to the system and the

actuators

• Transistors and relays

Accelerometer, gyrometer, magnetometer Micro Strength sensor

Light (Photo Resistor) Ultrasonic sensor

FilterSamplingAcquisition

FilterSamplingAcquisition

Sensor 1

Sensor 2

ExploitationData fusion

Accelerometer Magnetometer Gyroscope

Electromechanical device that converts

the angular position or axle to an analog or digital

code.

2 types : Absolute // Incremental (most used)

Provides information processed elsewhere into

speed, distance or position.

Used in many applications that require precise

shaft unlimited

Provides location and time information in all weather conditions

Anywhere on or near the Earth where there is an unobstructed line of sight to four or more

GPS satellites

Allows to measure altitude

Measures pression

Used to track colors or collect basic image statistics

Transformed energy

Orders

EnergyActuator

His function is to convert an input

energy available in some form of

usable energy output for a given effect.

Rotor

• Permanent magnets

Stator

• Windings

Advantages

• Simple• Economic• No

rotor/stator contact

• Speed rotation control

Cons

• Overheating• Poor torque

at start and at low speed

• PWM

• Windings with brushes

Rotor

• Permanent magnets

Stator

• Simple• Economic• More torque at start and at low speed• Lower heating• Easier to control (PWM)• No rotor/stator contact• Speed rotation control

Advantages

• Lower efficiency (brushes)

Cons

• Reduction of rotation speed• Increase of torque• No rotor/stator contact• Speed rotation control

Why ?

• Gears• Chains & sprockets• Epicyclic …

How ?

• Permanent magnets• Step depends on magnets number

Rotor

• Electromagnets

Stator

• Precise• Fast acceleration• Easy to keep a position

Advantages

• Jerky at low speed• Can’t hold a high torque

Cons

• Permanent magnets

Rotor

• Electromagnets

Stator

• Precise• Fast acceleration• Easy to keep a position

Advantages

• Jerky at low speed• Can’t hold a high torque

Cons

Price

Size

Input

Output

Computing power

Integration Electric consumption Cost

Create

Evaluate

Reproduce

Stop ?

MutateNo

A genetic algorithm (GA) is

a search heuristic that mimics the

process of natural selection

Neural networks are models inspired by

animals' central nervous systems that are

capable of machine

learning and pattern recognition

SecurityDebit

Laws Protocols

DatasRange

Multi-users

KeyboardsButtonsJoysticks

ScreensSoundsVirtual realityAugmented reality

Spin around

q1, q3 and q5

Move

q2, q4, q6 and q7

In this convention, each homogeneous transformation Ai

is represented as a product of four basic transformations

𝜃𝑖 , 𝑎𝑖 , 𝑑𝑖 , ∝𝑖 are parameters associated with link i and joint i.

The four parameters are given the names link length, link twist, link offset, and joint angle

Determined by the Jacobian of this function.

Jacobian is encountered in many aspects of robotic

manipulation: in the planning and execution of robot

trajectories, in the derivation of the dynamic

equations of motion

A PID controller calculates an "error" value as the

difference between a measured process variable

and a desired setpoint.

The controller attempts to minimize the error in

outputs by adjusting the process control inputs.

Precision Stability Rapidity

P

I

D

Duct tape

Plastic

PLA

Carbon Fiber

Wood

Aluminium