� Smart Video File: RoboMC
� (C) BBC 1989
��4
(��3:�0:�20,0)"  Micro Live - Robotics  ":�1:�28,0,24,79,3:�"Industrial robots are jointed arms which move precisely,"'"under computer control.":�'"Most have five or six jointed arms driven by electric motors"
2��"They are more expensive than they look, but are useful for repetitive":�"jobs, and jobs that require precise movements.)"':�"Four main sub-systems can be identified in most robots:"':�"1) The structure and mechanical design of the arm."
<��"2) The motive power.":�"3) The control and coordination (usually by computer).":�"4) Sensors, for gathering information about position and environment."':�"The number of joints a robot has determines its 'degrees of freedom'."'
F��"One of the most important specifications of a robot arm is the number of":�"'degrees of freedom' it has: this governs the movements it can perform."':�3:�'"How many joints did the last robot we saw have?"':�@(1,"Two"):�@(2,"Three"):�@(3,"Six"):�2:�
P3:_%=�@(3,3):�_%�"That is not right, try again"
Z�_%:�:�"3 - Yes, the robot we just saw has six degrees of freedom:":�'"1 - Waist - swivels horizontally":�"2 - Shoulder - swivels vertically":�"3 - Elbow - swivels vertically":�"4 - Wrist - rotates":�"5 - Wrist - moves up and down"
d��"6 - Hand - moves in and out":�''"How many degrees of freedom do the human hand and wrist have?"':�@(1,"six"):�@(2,"seven"):�@(3,"four"):�2:�:_%=�@(2,3):�_%�'"Think about you own arm and then try again."'
n�_%:�:�"2 - Yes, the human arm and wrist have seven degrees of freedom.":�"The one that is often overlooked is that the upper arm can rotate within":�"the shoulder socket, as well as move in two directions."
x��'"If you need a robot arm to pick up components from a shelf, simple in-out":�"and up and down movements would suffice.  But if the robot must reach":�"into awkward spaces - often the case with paint spraying or spot welding -"
���"then a jointed arm, with five or six rotary joints, has many advantages.":�'"A robot's working envelope is an imaginary hemi-sphere with the robot":�"at its centre.  It defines the volume that the robot can reach."
���'"For a robot to have a three dimensional working envelope, it must have":�"at least three degrees of freedom.  Three degrees of freedom will position":�"the end-effector anywhere within its working envelope, but if control"
���"over the direction from which an object is grasped is needed, then further":�"degrees of freedom are necessary.  The ideal is three for the arm and a":�"further three for the end-effector, totalling six.  This enables any"
���"object in the working envelope to be grasped from any angle.":�3:�"If a robot only had three joints - a waist, shoulder and elbow - what":�"problems would it encounter?"':�@(1,"It would not be able to reach all of its working envelope.")
���@(2,"It would be unable to position objects accurately"):�@(3,"It would have no control of the orientation of its end-effector"):�2:�:_%=�@(3,3):�_%�'"No, that is not right. Try again."'
��_%:�"3 - That is correct: it would have no control over the orientation of its":�"end-effector and so could not rotate or angle its hands to work with tools.":�"For a robot to have a three dimensional working envelope, it must have at"
���"least three degrees of freedom.  Three degrees of freedom will position":�"the end-effector anywhere within the working envelope, but if control":�"over the direction from which an object is grasped is needed, then further"
���"degrees of freedom are necessary.  The ideal is three for the arm and a":�"further three for the end-effector, totalling six.  This enables any object":�"in the working envelope to be grasped from any angle.":�3
���"How many controlling computers did the industrial robot have?"':�@(1,"Seven, one per joint and one for overall control"):�@(2,"Only one"):�@(3,"Twenty-two"):�2:�:_%=�@(1,3):�_%�'"Incorrect. Try again."'
��_%:�:�'"1 - Yes the Puma has seven controlling computers, one for each joint,":�"and one larger computer to calculate where all the joint motors need to":�"be at any one time, to get the 'hand' into the right position and"
��"orientation.  This is called 'distributed control' because the":�"responsibilities of controlling what is going on at the joints":�"themselves are delegated to the smaller computers."
���'"To move the robot to a new position, the main computer has to decide":�"how far, and in what sequence, to rotate each motor.":�'"The controlling computer for each joint must then drive the joint motors"
���"in the direction chosen; but how does it know when to stop?  That's":�"the subject of the next section.":�0:�'"Press the RETURN key to return to the main program.":�1:`%=�:�"Smart99"

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@I��3:�'"Press the ";:�0:�" RETURN ";:�1:�" key to continue.":�:*FX15,1

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^��0:�" Press R to restart this section and X to return to the main program ";:�1:�:G$=�:�G$="R"�G$="r"�G$="X"�G$="x":�G$="R"�G$="r"���:�7:�("L. SCREEN FFFF7C00"):�28,5,23,36,11:�"Smart99"

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00000020  14 12 f4 20 28 43 29 20  42 42 43 20 31 39 38 39  |... (C) BBC 1989|
00000030  0d 00 1e 08 ee 85 f2 34  0d 00 28 d4 eb 33 3a f2  |.......4..(..3:.|
00000040  30 3a f1 8a 32 30 2c 30  29 22 20 20 4d 69 63 72  |0:..20,0)"  Micr|
00000050  6f 20 4c 69 76 65 20 2d  20 52 6f 62 6f 74 69 63  |o Live - Robotic|
00000060  73 20 20 22 3a f2 31 3a  ef 32 38 2c 30 2c 32 34  |s  ":.1:.28,0,24|
00000070  2c 37 39 2c 33 3a f1 22  49 6e 64 75 73 74 72 69  |,79,3:."Industri|
00000080  61 6c 20 72 6f 62 6f 74  73 20 61 72 65 20 6a 6f  |al robots are jo|
00000090  69 6e 74 65 64 20 61 72  6d 73 20 77 68 69 63 68  |inted arms which|
000000a0  20 6d 6f 76 65 20 70 72  65 63 69 73 65 6c 79 2c  | move precisely,|
000000b0  22 27 22 75 6e 64 65 72  20 63 6f 6d 70 75 74 65  |"'"under compute|
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000000d0  6f 73 74 20 68 61 76 65  20 66 69 76 65 20 6f 72  |ost have five or|
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000000f0  73 20 64 72 69 76 65 6e  20 62 79 20 65 6c 65 63  |s driven by elec|
00000100  74 72 69 63 20 6d 6f 74  6f 72 73 22 0d 00 32 f2  |tric motors"..2.|
00000110  f1 22 54 68 65 79 20 61  72 65 20 6d 6f 72 65 20  |."They are more |
00000120  65 78 70 65 6e 73 69 76  65 20 74 68 61 6e 20 74  |expensive than t|
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00000a70  20 61 6e 67 6c 65 2e 22  3a f2 33 3a f1 22 49 66  | angle.":.3:."If|
00000a80  20 61 20 72 6f 62 6f 74  20 6f 6e 6c 79 20 68 61  | a robot only ha|
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00000ac0  68 61 74 22 3a f1 22 70  72 6f 62 6c 65 6d 73 20  |hat":."problems |
00000ad0  77 6f 75 6c 64 20 69 74  20 65 6e 63 6f 75 6e 74  |would it encount|
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00000af0  6f 75 6c 64 20 6e 6f 74  20 62 65 20 61 62 6c 65  |ould not be able|
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00000b30  2c 22 49 74 20 77 6f 75  6c 64 20 62 65 20 75 6e  |,"It would be un|
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00000b50  20 6f 62 6a 65 63 74 73  20 61 63 63 75 72 61 74  | objects accurat|
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000014c0  05 e0 0d ff                                       |....|
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