Electronics

A to D converter and D to A converter: these converters convert analogue signal to digital signal by converting 0- 12V into single 8 byte or vice versa (Robert 2006, 46).

                                     DA CONVERTER

Basic circle for converters           

Microcontrollers are very small computer devices used for robot control, it contains processor core, memory, and programmable input/output peripherals

Microcontroller

Programmable logic controller or PLC has input and output that are used to create communication between sensors and actuators. Timers are included inside PLC which can be programmed. Outputs are the actuators and inputs are the sensors.

Power Electronics are used for running motor drive and controlling the motor speed by converting electrical power voltage and ampere to a suitable amount to produce suitable speed in the motor drive.

Power electronics

Algorithms and software

Mean step by step procedure and logic programming language through logical event sequence by planning the whole task at the beginning, then controlling the motors and actuators through using feedback signal that are obtained from sensors., programmer need to plan trajectory of each individual actuator motions and to plan trajectories of end effectors. To get in the end harmonic motion with suitable speed based on logic system and task requirement.