Robotics

The topic of robot dynamics is concerned with the analysis of the torques and forces due to acceleration and deceleration. Torques experienced by the joints due to acceleration of the links, as well as forces experienced by the links due to torques applied by the joints, are included within the scope of dynamic analysis. Solving

In many cases it is more important to be able to derive the joint angles given the end-of-arm position in world space. The typical situation is where the robot’s controller must compute the joint angles required to move its end-of-arm to a point in space defined by the point’s coordinates. For the two-link manipulator we

The arm we have been modeling is very simple; a two-jointed robot arm has little practical value except for very simple tasks. Let us add to the manipulator a modest capability for orienting as well as positioning a part or tool. Accordingly, we will incorporate a third degree of freedom into the previous configuration to

Figure illustrates the configuration of a manipulator in three dimensions. The manipulator has 4 degrees of freedom: joint 1 (type T joint) allows rotation about the z axis; joint 2 (type R) allows rotation about an axis that is perpendicular to the z axis; joint 3 is a linear joint which is capable of sliding

A robot moves in space to perform tasks and hence it needs actuators to move the links and sensors to know where each joint is. Sensors inform the controller by how much each joint has moved and thus enables the controller to enforce a particular velocity or position during motion. As we have seen in

Commercially available industrial robots can be classified into  four categories according to their control system. The types of robot controls : Limited sequence robots Playback robots with point to point control Playback robots with continuous path control Intelligent robots Of the four categories, the limited sequence robots represent the lowest level of control and intelligent

We can develop a general configuration for a robot controller. The elements needed in the controller include: joint servo controllers, joint power amplifiers, mathematical processor, executive processor, program memory, and input device. The number of joint servo controllers and joint power amplifiers would correspond to the number of joints in the manipulator. These elements might

Robot are employed in a wide assortment of applications in industry. Today, most of the applications are in manufacturing to move materials, parts, and tools of various types. Nonmanufacturing tasks include exploration of space, defense, and medical care. At some time in the near future, a household robot may become a mass produced item, perhaps

In its most basic form, a robot program can be defined as a path in space through which the manipulator is directed to move. This path also includes other actions such as controlling the end effector and receiving signals from sensors. The purpose of robot programming is to teach these actions to the robot. There

The speed capabilities of current industrial robots range up to a maximum of about 500 degrees per second for certain joints. Current day industrial robots can have cycle times as low as 0.8 sec (e.g., Adept Viper). The highest end effector speeds can be obtained by large robots with the arm extended to its maximum