Robots today are ubiquitous in manufacturing but they can do much, much more.
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Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.
Let’s recap what robots are, where they’ve come from and what they can do. Robots use sensors to understand their world and plan an action to achieve their goal.
For a redundant robot the inverse kinematics can be easily solved using a numerical approach.
We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
Without doubt robots are cool, but why do we need them? Let’s discuss some of the things that robots can help people do.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.
We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.
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.