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There are many levels of communication in a robot system. Internally, there are feedback loops that serve to keep the mechansisms in balance and on track. At a higher level the control software manuals the operation of these low-level re exes. Above that, the robot needs guidance and this is where the human steps into the picture. Sometimes the robot is an extension of human senses and limbs, o ering telepresence and teleoperation. Other times, though, there are technical reasons why simple telerobotics won t work so you have to build more exibility and smarts into your robot, making it semi-autonomous. A fully independent robot could have value in some situations, but we normally want at least supervisory control over our creations. Once it is decided that a robot should be remotely controlled, there are a number of technologies that can enable this control from simple wires and switches to old-fashioned parallel and serial control protocols, to the newer USB and Ethernet. The robot builder doesn t normally have to worry about the mechanisms of communication, since microcontrollers and computers tend to have one or more communication modules built in. You can even buy inexpensive chips that run TCP/IP over Ethernet. The future of robot communication may be direct visual and vocal interaction with humans, though for now our communication is limited to data sent over wires, radio waves, and light beams.



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that in the early years of the 21st century, the attainable processing accuracy conforms to the nanometre level Taking the year 2000 as an example, only highly developed countries had the capacity to use the four classes at the tolerances indicated in the figure due to the possibility of attaining the processing accuracy, particularly in the nanorange The accuracy of processing is expressed by the sum of the systematic error and the random error (3s standard variance), as shown in the lower part of Figure 15 Systematic errors mainly indicate the failure of a machining system, such as the zero-setting error for tool positioning [2] Random errors are caused by inherent defects of the processing

1. What role does the human operator have in the control loop 2. What is a semi-autonomous robot Why would you need one





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equipment, such as the presence of a backlash between mechanical links, gears, threads, or sliding guides Although systematic errors can be corrected by the feedback control of the tool position, random errors cannot The scattering errors of the machined products or positioning of the tools therefore limit the accuracy of machine tools Development within the country itself will be differing from one state to another, which is inevitable For example, Penang, a state in Malaysia having about 55 ultra-high-precision industries, is in a more technologically advanced era of 2000, as compared to other states of Malaysia such as Kuala Lumpur, Selangor and Johor Bahru, which are still in a less advanced era of 1987, for both their machining trend and total machining accuracy

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Language is how we communicate. It includes the complexities of our words and the ways they can be combined to carry meaning. Language is one of the most complex things we learn when we are little. Communication is not just words. In human interactions, facial expressions, body posture, and the tone and inflection of your voice all carry meaning. We may talk about body language, but is it language We won t answer these philosophical questions here, but instead focus on language as it relates to computers.

The straight line can be defined by Y = mX + C, where m is the slope and C is the intercept Putting equation 44 in terms of a straight line, we get

1/f 2 = X-axis dc2 = m ( Slope)

Language Computers Any of numerous systems of precisely defined symbols and rules for using them that have been devised for writing programs or representing instructions and data. Oxford English Dictionary, Online Edition

d Yc 2 c = C (intercept) R The square root of the slope gives us dc, and Yc can be calculated by the intercept of the line The process limit for the feed rate can be obtained from equation 42 by setting Zeff = 0, that is, the feed fmax at which damage first replicates into the cut surface Equation 44 gives for Zeff = 0

0 = 0 =

In 13 we looked at computer programming in terms of flowcharts and the RIS flowchart-based language. Those examples used graphical

dc = R ( dc + Yc ) R ( dc + Yc ) 1 dc + Yc and choosing the physically correct root that corresponds to the minus sign, we have the process limit

symbols as their language. In this chapter we map these symbols to the more compact word-based computer programming languages.

R 2 ( d c + Yc )

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