Robot controller: major components and functions

The controller is the brain of the robot: it stores the program, computes motion and drives the actuators.

Major components

Component	Function
Processor and memory	Run the operating system and program interpreter; store programs and data
Motion planning software	Inverse kinematics, trajectory generation and interpolation
Servo drives / amplifiers	Supply power to each motor according to the command
Feedback devices	Encoders and resolvers report joint position and speed
I/O interface	Connects sensors, grippers, conveyors and PLCs
Teach pendant interface	Lets the operator jog, teach and run programs
Communication ports	Ethernet, fieldbus and serial links to other systems
Power supply and safety circuits	Provide power, emergency stop and safety interlocks

Functions

Program storage and execution, trajectory generation, closed-loop servo control, sensor and I/O handling, communication, and safety monitoring.

Exam tip

Draw the block diagram and give one line per block.