Lecture 9: Manipulation Flashcards
What is manipulation in robotics?
Manipulation is moving a body part to manipulate the environment. For example, reaching and grasping.
What is a robotic manipulator?
One or more links connected by joints and the endeffector.
What is an endeffector in a robotic manipulator?
It is used to affect and move objects in the environment. For example, a gripper, hand, arm, or body part.
What is the manipulation problem?
The manipulation problem is that the workspace is important to know the manipulator’s obstacles and limits.
What is kinematics? Explain the two types of kinematics. *
Kinematics is the correspondence between actuator motion and resulting effector motion.
Inverse kinematics is where the position is known and the angle position is calculated. Forward kinematics is where the angle is known and the position is calculated.
Fill in the blank:
Slow-moving mobile robots are ______ impacted by dynamics.
Fast-moving robots are ______ impacted by dynamics.
Not very strongly
Highly
How can compliance be achieved in robotic manipulators?
Spring in joints
Soft materials
Software compliance
What is feedback control? Explain the 3 types of feedback control.
Feedback control is for closed-loop control when an actuator needs feedback to correct the forces applied to the motors.
The first type is proportional control (P), where the system responds in proportion to the error. The second type is derivative control (PD), where the proportional error signal is added with a derivative of the error signal. The third type is proportional integral control (PID), where the system integrates incremental errors over time.
How is open-loop control different to closed-loop control?
Closed loop control uses feedback to evaluate forces, but open-loop control applies force to joints towards desired state without comparing.
Explain one model of cognitive approaches for robotic manipulation.
(can choose developmental milestones, evolutionary robotics reaching model, visually guided reaching, etc.)
The model is grasping through developmental milestones. The model shows a U-shape development result. Initially, ‘prereaching’ movements are attempted towards the object. Then a decline of prereaching movements is seen, which is the plateau of the U-shape. Lastly, the development speeds by reaching with grasp reshape and correcting movements.
