Modern Robotics - C1

Question 1

links - > joints (actuation of the joints)

Answer 1

a mechanism is constructed by connecting rigid bodies (links) together by means of joints, so that relative motion between adjacent links becomes possible.
Links can be arranged in
*serial fashion (e.g. open-chain arm)
*from closed loops (e.g. Stewart-Gough platform / Stewart platform)

Question 2

pneumatic

Answer 2

driven by air/gas
e.g. - gripper, - cylinder

Question 3

hydraulic

Answer 3

use of liquid
e.g. hydraulic cylinder

Question 4

backlash

Answer 4

sometimes called lash or play, is clearance between mating components, sometimes described as the amount of lost motion due to clearance or slackness when movement is reversed and contact is reestablished. For example, in a pair of gears, backlash is the amount of clearance between mated gear teeth.

Question 5

revolute vs prismatic joints

Answer 5

revolute - rotation
prismatic - slide (same axis)

Question 6

potentiometer

Answer 6

A potentiometer is a type of position sensor. They are used to measure displacement in any direction. Linear potentiometers linearly measure displacement and rotary potentiometers measure rotational displacement.

Question 7

tachometer

Answer 7

measures the working speed of an engine, typically in revolutions per minute (RPM)

Question 8

force-torque sensors

Answer 8

.

Question 9

hysteresis

Answer 9

the phenomenon in which the value of a physical property lags behind changes in the effect causing it, as for instance when magnetic induction lags behind the magnetizing force.

Question 10

dof

Answer 10

Degree of freedom

Question 11

Degree of freedom (dof) definition?

Answer 11

The smallest number of real-valued coordinates needed to represent a robot’s configuration

the number of variables of the rigid body.
The dimension of the configuration space, the space of all configurations of the body

Question 12

dof of a rigid body in a plane?

Answer 12

3:
*2 position
*1 orientation

Question 13

dof of a rigid body in space

Answer 13

6:
*3 position
*3 orientation

Question 14

configuration of a robot [definition]?

Answer 14

a complete specification of the position of every point of the robot

Question 15

configuration space
(C-space)

[definition?]

Answer 15

the n-dimensional space containing all possible configurations of the robot

the configuration of a robot is represented by a point in its C-space