Chapter 2: Advanced Kinematics and Dynamics
16 sections
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Sections
Navigate through the learning materials and practice exercises.
What we have learnt
- 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.
Key Concepts
- -- Forward Kinematics
- The process of determining the position and orientation of a robot's end-effector based on known joint parameters.
- -- Inverse Kinematics
- The method of calculating the joint parameters needed to achieve a desired position and orientation of the end-effector.
- -- Redundant Manipulators
- Robotic systems with more degrees of freedom than necessary, allowing for greater flexibility in motion and obstacle avoidance.
- -- Jacobian Matrix
- A matrix that relates joint velocities to end-effector velocities, used for velocity and acceleration calculations.
- -- Dynamic Modeling
- The mathematical formulation of how forces and torques affect robot motion, enabling predictions based on control inputs.
- -- Force Control
- A control strategy ensuring a robot applies a specific force to interact physically with its environment.
- -- Torque Control
- A technique that commands the amount of rotational force each joint motor should exert, enhancing compliance and adaptability.
Additional Learning Materials
Supplementary resources to enhance your learning experience.