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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.
If each angle and slide distance is known, the position and orientation of the end of the robot arm relative to its base can be computed efficiently with simple trigonometry. Going the other way — calculating the angles and slides needed to achieve a desired position and orientation — is much harder.
A prismatic joint is a one-degree-of-freedom kinematic pair [1] which constrains the motion of two bodies to sliding along a common axis, without rotation; for this reason it is often called a slider (as in the slider-crank linkage) or a sliding pair. They are often utilized in hydraulic and pneumatic cylinders. [2]
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.
Kinematic diagram of Cartesian (coordinate) robot A plotter is a type of Cartesian coordinate robot.. A Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. [1]
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot ) or translational (linear ...
A slider-crank linkage is a four-bar linkage with three revolute joints and one prismatic, or sliding, joint. The rotation of the crank drives the linear movement the slider, or the expansion of gases against a sliding piston in a cylinder can drive the rotation of the crank.
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.