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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Electric motors are typically quite weak, they produce a low torque, so it’s very common to add a reduction gearbox.
We can model a DC motor as a resistor and a voltage source, and then understand the implications of controlling either the voltage or current supplied to the motor. We also learn about common methods for motor control such as the H-bridge driver and pulse width modulation.
We describe the velocity coupling terms of the robot as a matrix which represents how the torque on one joint depends on the velocity of other joints.
We describe inertia of the robot as a matrix which represents how inertia of a joint depends on the position of all the joints, and how the torque on one joint depends on the acceleration of other joints.
In a serial-link manipulator arm each joint has to support all the links between itself and the end of the robot. We introduce the recursive Newton-Euler algorithm which allows us to compute the joint torques given the robot joint positions, velocities and accelerations and the link inertial parameters.
The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
We will learn about how we make the the robot joints move to the angles or positions that are required in order to achieve the desired end-effector motion. This is the job of the robot’s joint controller and in this lecture we will learn how this works. This journey will take us in to the […]