Beruflich Dokumente
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KUMAR MAYANK
Assistant Professor
ECE Dept
Delhi Technological
University
02-02-2015
Kumar Mayank
02-02-2015
Kumar Mayank
Robot Definition
A robot is a reprogrammable
multifunctional manipulator
designed to move material, parts,
tools, or specialized devices
through variable programmed
motions for the performance of a
variety of tasks.
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Controller Resolution
Kumar Mayank
Problem 1
Referring to right hand side Figure , suppose that the tip of a single link travels a
distance d between two points. A linear axis would travel the distance d while a
rotational link would travel through an arc length l as shown left hand side figure.
Using the law of cosines show that the distance d(represented by c in the figure) is
given by
which is of course less than l . With 10-bit accuracy and l = 1m, = 90 what is the resolution of the
linear link? of the rotational link?
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Configuration Space
Configuration of a manipulator = Complete specification of the location of every
point on the manipulator.
Configuration space = Set of all possible configurations
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Workspace
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Spherical manipulator(RRP)
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SCARA Manipulator
z0, z1, and z2 mutually
parallel
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Parallel Manipulator
Some subset of the links form a closed chain.
It has two or more independent kinematic chains
connecting the base to the end-effector
Closed chain kinematics of parallel robots can result
in greater structural rigidity, and hence greater
accuracy, than open chain robots.
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Inverse Kinematics
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Inverse Kinematics
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Velocity Kinematics
This tool helps us to know the relationship between the velocity of the tool and the joint velocities.
Differentiate eqn (1.1 and 1.2) to get
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Velocity Kinematics(Continued.)
Joint velocities are found from the end-effector velocities via the inverse Jacobian
where inverse J is
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Velocity Kinematics(Continued.)
When 2 =0 then the
manipulator is said to be in a
singular configuration
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