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Robot kinemetics
Robot kinemetics
Introduction
Introduction
Kinematics studies motion without considering the causes that produce such motion. Robot kinematics studies the movement of all robot elements with respect to a reference frame, usually the robot's base:
Analytical description of the spatial movement, both in position and orientation, of the robot
Describes the kinematic relation between the robot's end effector and its joints, which can be expressed as a time-based trajectory.
Kinematics is the basis for understanding how robots move, although we must not forget that the real world is dynamic!
Kinematic Models
Kinematic Models
Absolute models:
Forward kinematic model: Determines the position and orientation of the robot's end effector with respect to a reference system, given joint value positions, as well as the robot geometric parameters.
Inverse kinematic model: Determines joint value positions necessary to reach a given position and orientation of the robot's end effector. The geometric parameters of the robot are known.
Differential Model: Determines the relationship between robot joints speed and the speeds of the end effector, based on the Jacobian matrix
Robot Singularities
Robot Singularities
A robot singularity is a configuration in which the robot end-effector becomes blocked in certain directions.
At a singularity, a robotic arm loses one or more degrees of freedom.
The problem with singularities is not only the impossibility of crossing them, but also the high joint velocities resulting from passing close to them.
The three types of singularity in a wrist-partitioned, vertically-articulated robot arm:
The three types of singularity in a wrist-partitioned, vertically-articulated robot arm:
Wrist singularity
Wrist singularity
Elbow singularity
Elbow singularity
Shoulder singularity
Shoulder singularity
Short simulation demonstration on Inverse Kinematics
Short simulation demonstration on Inverse Kinematics
Inverse Kintemetics_TeamPossibleGroup1.mp4Google Sites
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