1) When might a user prefer a digital encoder over an analog one? Give an example...
1) When might a user prefer a digital encoder over an analog one? Give an example of a scenario, explain the components on the robot, the environment, and task.
2) When might a user prefer an analog encoder over a digital one? Give an example of a scenario, explain the components on the robot, the environment, and task.
Homework Answers
The encoder is a sensor device that attached to the rotating object i.e. on the robot. by measuring rotation the robot can measure the displacement, velocity or an angle for its rotation. A typical encoder uses optical sensors, a moving mechanical component and a specific reflector to provide a series of electrical pulses to the microcontroller. These pulses can be used by the feedback system to determine displacement, velocity or angle of rotation.
The digital encoder is used for high resolution encoders for velocity control can take a lot of computation system time, so its better to use digital counter IC to count encoder click so that counter serially read the data.
The components on robots are: Body, control system, manipulator and drive train.
Body is a structure of robot it can be of any size.
Control System- it is the central nervous system. The feedback system may consists of different sensors based on the surrounding of the robot,
Manipulator- It is required to move objects from surrounding environment without direct contact by the human operator.
Drive train- It consist of powered method of mobility. Some robots may have led structure, other may have wheel systems.
To task to move the object by the robot starts from the robot body to come near the object. Sense the object with the help of control system sensors, hold the object and make some displacement with the help of drive train system.
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