Lecture on robotics for robotics class kinematics.pdf
- 1. 1
- 2. Studies the motion of a body, or a system of bodies, without considering its mass or the forces acting on it 2
- 3. A robot arm, more formally a serial-link manipulator, comprises a chain of rigid links and joints 3
- 4. 4
- 5. Revolute: the attached links rotate about a common axis. 5
- 6. Prismatic: the attached links translate about a common axis 6
- 7. Spherical: the attached links rotate about a point 7
- 8. Each joint has one degree of freedom, either translational (a sliding or prismatic joint) or rotational (a revolute joint). 8
- 9. Robot’s configuration: a specification of the positions of all points of the robot. 9
- 10. described by one of two methods: 1. A list of coordinatesfor each joint (typically an angle or translation distance) expressed relative to some reference frame,aka zero position. 2. A spatial representation of its links in the 2D or 3D world in which it operates 10
- 11. The 2D or 3D world in which the robot lives is known as its workspace 11
- 12. the smallest number n of real-valued coordinates needed to represent the robot’s configuration 12
- 13. x y q1 What is the workspace of this robot? How many dof does this robot have? 13
- 14. x y q1 Pose of the end effector R(q1) Tx(a1) 14
- 15. q2 x y q1 R(q1) Tx(a1) R(q2) Tx(a2) 15 Pose of the end effector
- 17. Given a set of joint positions q, what is the pose of the robot tool-tip x? 17
- 18. 18 q2 x y q1
- 19. 19
- 20. 20