9.3. Kinematics of Robot Manipulators

Try these first

1. 1.

   What is forward kinematics?

   Hint

   Think of it as calculating where the robot will end up based on its joint angles.

2. 2.

   What is inverse kinematics?

   Hint

   Consider it as calculating how the robot needs to move its joints to reach a target location.

3. 3.

   What does forward kinematics help determine?

   • The joint angles
   • The position of the end-effector
   • The torque needed

   Hint

   It's all about the result of the joint movements.

4. 4.

   Inverse kinematics is generally considered less complex than forward kinematics. True or False?

   • True
   • False

   Hint

   Consider which one requires more calculations.

5. 5.

   Design a forward kinematics setup for a simple robotic arm with two joints and one end-effector. Assume joint 1 can rotate 90 degrees and joint 2 can rotate 180 degrees.

   Hint

   Remember to visualize how each joint's angle impacts the overall position.

6. 6.

   Given a robotic arm with three joints, if the desired position is out of reach, identify potential solutions and methods to resolve the issue.

   Hint

   Think about joint limits and how they impact reach.