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Line representations in robotics are used for the following: They model joint axes: a revolute joint makes any connected rigid body rotate about the line of its axis; a prismatic joint makes the connected rigid body translate along its axis line. They model edges of the polyhedral objects used in many task planners or sensor processing modules.
The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics. Forward vs Backwards Kinematics
An arm design that does not follow these design rules typically requires an iterative algorithm to solve the inverse kinematics problem. The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint ...
The robot Jacobian results in a set of linear equations that relate the joint rates to the six-vector formed from the angular and linear velocity of the end-effector, known as a twist. Specifying the joint rates yields the end-effector twist directly. The inverse velocity problem seeks the joint rates that provide a specified end-effector twist.
The system of six joint axes S i and five common normal lines A i,i+1 form the kinematic skeleton of the typical six degree-of-freedom serial robot. Denavit and Hartenberg introduced the convention that z-coordinate axes are assigned to the joint axes S i and x-coordinate axes are assigned to the common normals A i,i+1.
For each joint of the kinematic chain, an origin point q and an axis of action are selected for the zero configuration, using the coordinate frame of the base. In the case of a prismatic joint, the axis of action v is the vector along which the joint extends; in the case of a revolute joint, the axis of action ω the vector normal to the rotation.
Articulated Robot: See Figure. An articulated robot uses all the three revolute joints to access its work space. Usually the joints are arranged in a “chain”, so that one joint supports another further in the chain. Continuous Path: A control scheme whereby the inputs or commands specify every point along a desired path of motion. The path ...
Parametric robot calibration is the process of determining the actual values of kinematic and dynamic parameters of an industrial robot (IR). Kinematic parameters describe the relative position and orientation of links and joints in the robot while the dynamic parameters describe arm and joint masses and internal friction.