We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.
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We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.
We consider a robot with four joints that moves its end-effector in 3D space.
We consider a robot with three joints that moves its end-effector on a plane.
We consider a robot, which has two rotary joints and an arm.
We consider the simplest possible robot, which has one rotary joint and an arm.
We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
We recap the important points from this lecture.
We start by considering the effect of gravity acting on a robot arm, and how the torque exerted will disturb the position of the robot controller leading to a steady state error. Then we discuss a number of strategies to reduce this error.