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Chapter 216 sections
Forward and inverse kinematics are critical for mapping the motion between joint and task spaces.
Redundant manipulators enhance flexibility and maneuverability, while closed kinematic chains contribute to load-bearing and stiffness.
Jacobian matrices are essential in understanding the relationship between end-effector velocities and joint velocities, particularly in detecting singularities.
Dynamic modeling is performed using Newton-Euler and Lagrangian methods to simulate robot motions under various forces.
Force and torque control strategies are vital for tasks requiring physical interactions.
The process of determining the position and orientation of a robot's end-effector based on known joint parameters.
The method of calculating the joint parameters needed to achieve a desired position and orientation of the end-effector.
Robotic systems with more degrees of freedom than necessary, allowing for greater flexibility in motion and obstacle avoidance.
A matrix that relates joint velocities to end-effector velocities, used for velocity and acceleration calculations.
The mathematical formulation of how forces and torques affect robot motion, enabling predictions based on control inputs.
A control strategy ensuring a robot applies a specific force to interact physically with its environment.
A technique that commands the amount of rotational force each joint motor should exert, enhancing compliance and adaptability.