Robotics Flashcards
What is a robot?
A mechanism with a degree of autonomy
Why is it good to have robots? [4] {BADH}
Boring things
Artificial limbs
Dangerous Environments
High Precision/Speed
What is Depiction related to robotics
making sure people don’t get attached to robots
What in Employment related to robotics
make sure robots don’t take disprotional amount of jobs from some people
What is privacy in relation to robotics ethics
how do you keep people information private
What is safety in proportion to robotics
Make sure they are designed properly in order not to harm people
What is a revolute joint
rotational
What is a prismatic joint
translational
What is a spherical joint?
Rotate in all axis
What is a screw joint
translational and rotational in one axis
mechanical structure- Wrist
At the end of the arm- rotational
Mechanical Structure- End effector
Attached to wrist, specific to perform task
What is degrees of freedom
Equal to number of joints- robots freedom of motion in 3D space
Why would be want more degrees of freedom then exist (redundant manipulator)
Can perform tasks with high dexterity- avoid obstacles
What is Number of axes
Kind of the same as number of joints
What is workspace?
Volume that the end effector can reach, showed in dimensions
What is def robots payload
Weight robot can carry fully outstretched
What is Reach?
The maximum distance a robot can reach (horizontal/vertical)
What are the 3 things that define precision? RAR
Resolution, Accuracy and Repeatability
What is resolution
the minimum motion increment that the robot can perform
What is accuracy
how close the manipulator can come to a given point within in the workspace
Does accuracy vary accross the workspace
yes
What is repeatability
how accurately the robot can reach the same position when the motion is repeated
What is the difference between an open loop chain and a closed loop chain
in a closed loop chain every link is connected to at least 2 other links
open loop each link is connected to only one another link
other name for open loop
serial
other name for closed loop
parralel
Which KC (kinematic chain) has a higher payload
Open loop
Which KC has more degrees of freedom
open loop
Which KC has a bigger workspace
open loop
which kc has faster movements
closed loop
Which kc has better accuracy
closed loop
Cartesian robot arm configeration
PPP
Cartesian robot arm workspace
3d rectangle
Cartesian Robot attractive qualties
accuracy
handling heavy loads
Cylindrical robot arm configuration
Rpp
Cylindrical robot arm workspace
ipad question1
Cylindercal robot arm sketch
ipad question 3
Cartesian robot sketch
ipad question 2
Spherical Robot arm configeration
RRP
Spherical robot arm sketch
ipad question 4
Spherical robot arm workspace
IPAD QUESTION 5
Scara robot arm configeration
RRP
Scara robot arm sketch
ipad question 6
Scara robot arm workspace
ipad question 7
Articulated robot arm configeration
RRR
Articulated robot arm skech
ipad question 8
Articulated robot arm workspace
ipad question 9
What does kinematic modelling consider
position acceleration velocity
what does Dynamic modelling consider
forces and torques
What is forward kinematics
chose joints find out end
what is inverse kinematics
choose end position calculate joints
What is differential kinematics
joint velocities to end effector velocities
What is the one frame which doesn’t depend on robot
world frame
What hand co ordinate system is used
right hand
Rotation about fixed frame what order do they go in
reverse
Rotations about moving current frame what order do they go in
Normal
Why is SCARA better then spherical robot arm for pick and place?
More stability in vertical plane and can move faster
What is a singularity
When a degree of freedom as lost and small speeds might results in high joint velocities
How can you find singularities?
When rank of Jacobean is not full
Jacobean matrix rows
x,y,z
What detirmines workspace? [3]
Joint type, link length, presence of any limiters
Types of end effectors
magnetic, gripper, vaacum
What is the Lagrange -Euler approach for dynamic
kinetic- potentional energy
What is Newton-Euler approach for dynamic
F=MA or T= IA
What is a path?
sequence of positions a robot should move to
What is trajectory
specifies along the path the timings of when the robot is supposed to be at each position
Joint space scheme explain
use waypoints and inverse kinematics to joint joint angles at each of them, and then generate trajectory of joint angles
Operational/Task space scheme explain
task points to make trajectory and solves kinematics at each point along line
Pros of Task space [2]
Motion is predictable, Easier to handle obstacles
Cons of Task space [2]
slower execution as iK at every step, actuator motion not guaranteed to be smooth
Join space pros [2]
Faster execution, actuator motion is smooth and easier to validate
Joint space con [1]
intermediate points not guaranteed and cant deal with objects
