Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 23

A robot manipulator should be viewed as more than just a series of mechanical linkages. The mechanical arm is just one component in an overall robotic system, illustrated in Figure 1.6, which consists of the arm, external power source, end-of-arm tooling, external and internal sensors, computer interface, and control computer. Even the programmed software should be considered as an integral part of the overall system, since the manner in which the robot is programmed and controlled can have a major impact on its performance and subsequent range of applications.

Figure 1.6 The integration of a mechanical arm, sensing, computation, user interface and tooling forms a complex robotic system. Many modern robotic systems have integrated computer vision, force/torque sensing, and advanced programming and user interface features.