Robot Controller: Hardware Overview

This lecture covers the hardware components used to control robots, including relays, digital inputs/outputs, sensors, amplifiers, memory, and communication interfaces. It explores examples of motherboard-based architectures, analog servo-amplifiers, and bus-less CPU boards. The lecture also discusses digital communication methods, industrial communication buses (Fieldbuses), such as CANopen, Profibus, and EtherCAT, and their topologies. Additionally, it delves into cascaded controllers for motion control and the advantages of using fieldbuses, emphasizing reduced wiring and increased information transmission. The presentation concludes with an example of an all-in-one micro-controller robot controller, highlighting its components and functionalities.