Robotics
The chapter covers fundamental concepts in robotics, including the distinctions between serial and parallel robot configurations and their applications. It discusses mathematical frameworks such as Denavit-Hartenberg parameters for kinematic analysis, along with robotics concepts like forward and inverse kinematics, workspace estimation, and path planning. The chapter also explores the roles of robot vision, motion tracking, and control strategies in modern robotic applications.
Sections
Navigate through the learning materials and practice exercises.
What we have learnt
- Serial robots consist of a single chain of joints, while parallel robots use multiple arms, affecting their flexibility and precision.
- Denavit-Hartenberg parameters systematically describe the geometry of robotic arms and their movement.
- Kinematics focuses on the motion of robots, with forward kinematics determining end-effector positions and inverse kinematics calculating joint parameters for desired positions.
Key Concepts
- -- Serial Robots
- Robots with joints and links arranged in a single chain, offering high flexibility and used in tasks like welding and assembly.
- -- Parallel Robots
- Robots with multiple arms converging at a common end-effector, known for their precision and load capacity, commonly used in high-speed applications.
- -- DenavitHartenberg Parameters
- A set of four parameters used to uniformly describe the joint configuration of robotic arms.
- -- Kinematics
- The study of motion without considering the forces, classified into forward and inverse kinematics.
- -- Robot Vision
- The integration of cameras and algorithms that allow robots to interpret visual data and interact with their environment.
- -- Motion Tracking
- The technique used to analyze the movement of objects or robot parts, enabling interaction and operational efficiency.
- -- Path Planning
- Algorithms designed to calculate optimal trajectories for robots while avoiding obstacles.
Additional Learning Materials
Supplementary resources to enhance your learning experience.