
Actuators
lesson
Actuators are the components that actually move the robot’s joint. So let’s look at a few different actuation technologies that are used in robots.
lesson
Actuators are the components that actually move the robot’s joint. So let’s look at a few different actuation technologies that are used in robots.
lesson
As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.
lesson
A more efficient trajectory has a trapezoidal velocity profile.
lesson
For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
lesson
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.
lesson
We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.
lesson
We repeat the process of the last section but this time consider it as an algebraic problem.
lesson
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
lesson
A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.
lesson
To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.