Robotics 1: Introduction to robotics, Recap of Kinematics, Recap of frames and orientation definitions, rotation representation in quaternion space Flashcards
What is a robot?
A programmable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motion for a variety of tasks.
They must posess certan characteristics:
* A mechanical arm
* Sensors to respond to inputs
* Intelligence to make decisions
Name three classification of robots
Mobile, Industrial, Humanoid
Or
Variable-Sequence robot: A device that performs successive stages of a task according to a predetermined method, easy to modify
Playback Robot : A human operator performs the task manually by teaching the Robot
Numerical Control Robot : The operator supplies the movement program rather than teaching the task manually
Intelligent Robot : A robot with the means to understand its environment and the ability to successfully complete a task despite changes to the environment.
What are the 5 types of robot configurations?
Cartesian: Gripper can move in xyz
Cylindrical: xy on a rotating base
Spherical: A rotation joint on a roating base
Articulated: Two rotating joints on rotation base.
SCARA: Rotating joint at same angle as roation base, with a prismatic joint for the gripper
What is Kinematics?
The study of motions of particles, bodies and systems of bodies, in terms of position (and orientation), translation (and rotation), but without considering forces (and torques) causing the motions. The bodies are considered to be rigid.
What is the Dynamics?
The study of motions of particles, bodies and systems of bodies in terms of mass (resp. inertia), force (and torque) or energies. The bodies can be rigid or deformable.
What is a Kinematic system?
a system of rigid bodies (called links) designed to move in a given form by the introduction of moveable joints which connect the links.
What is Serial kinematic / Kinematic chain?
a kinematic system where each link is connected by joints to only one or two other links (without forming a circle). An important parameter is the number of joints.
What is a Serial robot?
a serial kinematic, where some or all joints can be programmed, actuated and controlled to move the links in a defined way. (If not all joints can be actuated, the robot is called underactuated).
What is a manipulator?
a serial robot that is controlled with the purpose of manipulating objects. The first link is called base, the last link features an interface called end effector to attach tools for the actual manipulation (particularly grippers)
What is a tool center point?
The definition of a central coordinate system for each tool, which has to be controlled and moved to execute the actual manipulation, e.g. the center between the jaws of a gripper.
what is forward kinematics
Specifying the joint values to accomplish a robot move to a new configuration in space. These may not be simple as it seems because secondary joints such as four-bar linkages, ball screws, etc. may be required to accomplish this motion.
What is Inverse kinematics
Solving a mathematical model of the robot kinematics to determine the necessary joint values to move the tool to a desired target (frame) in space. This is accomplished by frame representation whereby a coordinate system (xyzaxes) is attached to the tool on the robot and a target frame is attached to the part or operating point in the workcell. The inverse kinematics determine the joint values required to align the tool coordinate system with the target triad.
What is a state vector?
a vector of joint variables, q = [q1,q2,β¦,qn]
where n is the numer of joints.
typically 1 is the joint closest to the base and the numbers increase to describe the next joint.
q determines the position and orientation of all robot links
What are Cartesian coordinates?
They describe poistion and orientation
[x, y, z, π_x, π_y, π_z]
What are euler angles?
Compact orientaion representation with 3 values.
