intro to movement planning Flashcards
what is the general rule of Fitt’s law
the more accurate the movement, the slower the movement becomes
briefly describe the two-third power law
when making curved movements, it becomes slower the more curved .
power of curvature is proportional to velocity
what elements does a robot arm need to consider before picking up an apple
localisation and planning
execution and control
adaptation
what is space
set of points with some added structures
if a model has locations labelled through xyz coordinates what type of space is displayed
effector space
task space
operational space
if a model has locations labelled through joint angles what types of space would be displayed
configuration space
joint angle space
body space
what are coordinates
set of numbers that uniquely define numbers in space
what is a coordinate/reference frame
a single space with multiple coordinate systems
cartesian coordinate system
defines 3 points in space
xyz coords
cylindrical coord system
defines how far a point is within one plane
the angle between the direction of the point and the x axis
spherical coordinates system
uses different angles and distances
egocentric coords
System is attached to the body
e.g. POV in vid game
allocentric coords
system is attached to the external world/object
e.g. 3rd person view in vid game
inverse kinematics
end effector space to configuration space
forward kinematics.
configuration space to end effector
