Robot Composition
Depending on the perspective, the understanding of a robot's composition can vary. At a macro level, a robot consists of two main parts: hardware and software. Further breaking it down, a robot can be divided into three major components: the control system, the sensing system, and the hardware platform.
- Control System
The control system acts as the robot's brain, consisting of a processor running the Robot Operating System, and is the core of the robot. Its main task is to generate control commands based on task instructions and sensor feedback, while also handling algorithm processing and human-machine interaction. It plays a key role in intelligent decision-making and task execution within the robot.
- Sensing System
The sensing system acts as the robot's sensory organs, and is divided into internal sensor modules and external sensor modules.
- The internal sensing system includes components such as motor encoders and gyroscopes, which can detect the robot's pose and state through self-signal feedback.
- External sensing systems include cameras, radar, and other components used to perceive the external environment.
The sensing system acquires useful information, helping the robot perceive and understand its surrounding environment, thereby assisting in robot operation and decision-making.
- Hardware Platform
The hardware platform serves as the robot's body, providing physical support for the robot. It typically consists of two parts: the drive system and the actuation mechanism.
- The drive system is primarily responsible for driving the actuators, converting commands from the control system into signals required by the actuators, similar to the human cerebellum and nerves.
- The actuating mechanism is the mechanical part of a robot, similar to human hands and feet, such as the robot's locomotion components and robotic arm.
Currently, the hardware platforms for robots are very mature and diverse. These include, but are not limited to, aerial vehicles, wheeled robots, quadruped robots, humanoid robots, soft robots, and underwater robots. Additionally, we can even build simple robots based on abundant references. In both study and work, everyone can choose a suitable robot platform based on actual needs.