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Robotics
Workspace
Geometrical Classification
Most industrial robots have six or fewer DOFs
They are classified based on the first three joints
types (R or P)
Further joints constructs the wrist.
1.
2.
3.
4.
5.
Articulate (RRR)
Spherical (RRP)
SCARA (RRP)
Cylindrical (RPP)
Cartesian (PPP)
Course Contents
1-Forward Kinematics
2- Inverse Kinematics
2- Inverse Kinematics
Solution is difficult
Not unique
May not exist
3- Velocity Kinematics
5-Vision
Use camera to give feedback on robot
position
Use camera to give position of external
objects
6- Dynamics
Robots are mechanical objects on motion
Need to find differential equations to
define the model
Equations are usually non-linear
Use Lagrangian dynamics
7- Position Control
Tracking problem
Disturbance Rejection problem
Using Feed forward control and the
second method of Lypanove.
8-Force Control
May be used instead of position control
Avoids uncertainty in the position
Ensures constant normal forces along the
trajectory
Use Hybrid control and impedance control