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some reference coordinate system is used to describe the position and orientation of
object frame.
Any frame can serve as a reference frame. A mechanism will be developed later for
transforming or changing the description of position and orientation from one frame to
another.
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DIRECT KINEMATICS
INVERSE KINEMATICS
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JACOBIAN
Besides, static positioning problem, analyzing
position of manipulator in motion is great
importance.
Jocobian (Matrix Quantity) is often use for
performing the velocity analysis of a mechanism.
specifies a mapping from velocity in joint
space to velocity in Cartesian space.
Singularities, points were mapping in not
invertible.
important phenomenon for robotics designers and users.
DYNAMICS
huge field of study devoted to studying the forces required to cause motion.
To accelerate a manipulator from rest, glide to constant end-effector velocity
and finally decelerate to a stop
a complex set of torque function must be applied by the joint actuators.
one way is to use the dynamic equations of motion of the manipulator.
Second use of the dynamic equation of motion is in simulation.
Kinematics
Cartesian
Space
Joint
Space
Dynamics
Control
Actuator
Space
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TRAJECTORY GENERATION
describe the smooth and controlled motion of manipulator from here to there.
each joint starts and ends its motion at the same time
the controlled path may be via points or continuous.
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