10.10.2. Cartesian Space Trajectory

Try these first

1. 1.

   Define Cartesian space in your own words.

   Hint

   Think about how you would locate a point in space.

2. 2.

   What is inverse kinematics?

   Hint

   Consider how a robot decides how to move its joints to reach a specific spot.

3. 3.

   What is the primary focus of Cartesian space trajectory planning?

   • Joint parameters
   • End-effector coordinates
   • Robot base movements

   Hint

   Remember what Cartesian space is all about.

4. 4.

   True or False: Inverse kinematics is not necessary for Cartesian space trajectory planning.

   • True
   • False

   Hint

   Think about the relation between movements and joint configurations.

5. 5.

   Suppose you are programming a welding robot that must follow a specific path in Cartesian coordinates through a complex structure. Outline the steps you would take to ensure the robot accurately follows the trajectory.

   Hint

   Think through the entire process from start to finish.

6. 6.

   Design a Cartesian trajectory for a 3D printer that needs to lay down layers consistently. Discuss the possible challenges and how to overcome them.

   Hint

   Consider the printer's mechanics when planning the trajectory.