1.8. Robot Kinematics

Try these first

1. 1.

   Define forward kinematics in your own words.

   Hint

   Think about how you can find where the robot's hand will be.

2. 2.

   What is an end-effector?

   Hint

   It’s what the robot uses to grab or manipulate things.

3. 3.

   What does forward kinematics define?

   • The sequence of movements
   • The end-effector's position based on joint angles
   • The forces causing the motion

   Hint

   Think about how locating a destination requires knowing your current position and direction.

4. 4.

   True or False: Inverse kinematics can have multiple solutions.

   • True
   • False

   Hint

   More than one road can lead to the same destination.

5. 5.

   A robotic arm with three joints is tasked to place a tool at a height of 1 meter, 0.5 meters to the side, and 2 meters forward. If the joint angles are known, calculate the position of the end-effector. Discuss the results.

   Hint

   Draw a diagram to visualize joint positions concerning the end-effector’s location.

6. 6.

   You’re given an arm with two joints and told its end-effector should reach a specific point using inverse kinematics. Determine the angles for each joint based on basic trigonometry principles.

   Hint

   Remember to use the cosine rule to relate the lengths and angles at the joints!