UNIT-IV-- Robotics
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The document discusses robot kinematics and robot programming. It covers topics like forward and inverse kinematics, Jacobian matrices, and manipulator dynamics. It also discusses trajectory generation and manipulator mechanism design. Finally, it discusses robot programming languages like VAL and how they are used to program motion commands, sensor commands, end effector commands, and simple programs.
UNIT-IV-- Robotics
- 1. UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages- VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs.
- 2. Robot Kinematics: Forward and Inverse Kinematics • Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. • Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators.
- 12. Two Frames Kinematic Relationship: There is a kinematic relationship between two frames, basically a translation and a rotation. In manipulator robotics, there are two kinematic tasks: Direct (also forward) kinematics – Given are joint relations (rotations, translations) for the robot arm. Transformation: In robotics applications, many different coordinate systems can be used to define where robots, sensors, and other objects are located. You can transform between coordinate systems when you apply these representations to 3-D points.