
Second Order Dynamic Systems
lesson
If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.
lesson
If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.
lesson
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.
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We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.
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All mechanical systems exhibit friction and we learn about two broad classes of friction: linear and non-linear.
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Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.
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Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.
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The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
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We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.
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We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.
lesson
The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.