Modern Robotics, Ch 2: Configuration Space

Question 1

Major Components

of a Mechanism/Robot

Answer 1

• Links
  
  • Rigid Parts
• Joints
  
  • Connect Links
• Actuators
  
  • Provide force or torque to move links
• End Effectors
  
  • Attached to a specific link
  • Perform manipulation or other functions

Question 2

Components:

Links

Definition

Answer 2

A set of rigid bodies that are connected together with joints to construct a robot or mechanism

Question 3

Components:

Joints

Definition

Answer 3

Components that connect Links and allow movement of some kind

Question 4

Components:

Actuators

Definition

Answer 4

Components that deliver forces or torques that cause the robot’s links to move, such as electric motors

Question 5

Components:

End Effector

Definition

Answer 5

A special component,

attached to a specific link,

used for manipulating objects,

such as a gripper or hand.

Question 6

Configuration:

Definition

Answer 6

Configuration:

• A complete specification of the positions of all points of the robot
• Tracks “where” the robot is

Question 7

Degrees of Freedom (dof):

Definition

Answer 7

Degrees of Freedom (dof):

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

Question 8

Configuration Space (C-Space):

Definition

Answer 8

Configuration Space (C-Space):

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

Question 9

Configuration:

Important Terms

Answer 9

• Configuration
• Degrees of Freedon (dof)
• Configuration Space (C-space)
• Task Space

Question 10

Task Space:

Definition

Answer 10

Task Space:

the Configuration Space

of a robot’s End-Effector

Question 11

Chapter 2: Configuration Space

Major Sections/Discussions

Answer 11

• Degrees of Freedom of a Rigid Body
• Degrees of Freedom of a Robot
  
  • Robot Joints
  • Grübler’s Formula
• Configuration Space:
  
  • Topology
  • Representation
• Configuration and Velocity Constraints
• Task Space and Workspace

Question 12

Rigid Body DoF:

General Rule for determining

Degrees of Freedom of a System

Answer 12

Three Ways of Expressing:

• As expression of coordinate points:

Degrees of Freedom =

(sum of freedoms of the points) -

(number of independent constraints)

• In terms of variables and equations:

Degrees of Freedom =

(number of variables) -

(number of independent equations)

• In terms of freedoms of bodies and constraints:

Degrees of Freedom =

(sum of freedoms of the bodies) -

(number of independent constraints)

Question 13

Rigid Body DoF:

DoF as an expression of

Coordinate Points

Answer 13

Degrees of Freedom =

(sum of freedoms of the points)

-

(number of independent constraints)

Question 14

Rigid Body DoF:

DoF as an expression of

Variables and Equations:

Answer 14

Degrees of Freedom =

(number of variables)

-

(number of independent equations)

Question 15

Rigid Body DoF:

DoF as an expression of

Freedoms of Bodies

and Constraints

Answer 15

Degrees of Freedom =

(sum of freedoms of the bodies)

-

(number of independent constraints)

Question 16

Rigid Body DoF:

Spatial Rigid Body

Answer 16

• A rigid body moving in three-dimensional space
• Has 6 degrees of freedom

Question 17

Rigid Body DoF:

Planar Rigid Body

Answer 17

Planar Rigid Body:

• A rigid body moving in a two-dimensional plane
• Has 3 degrees of freedom