TAILIEUCHUNG - Robotics Part 10

Tham khảo tài liệu 'robotics part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 5 Kinematics of Robotic Manipulators In This Chapter Introduction to Robotic Manipulators Position and Orientation of Objects in Space Forward Kinematics Inverse Kinematics INTRODUCTION TO ROBOTIC MANIPULATORS W M ost robotic manipulators are strong rigid devices with powerful mo- 1 tors strong gearing systems and very accurate models of the dynamic response. For undemanding tasks it is possible to precompute and apply the forces needed to obtain a given velocity. This control is called computed torque control. Alternatively a high-gain feedback on joint angle control leads to an adequate tracking performance. The important control problem is one of understanding and controlling the manipulator kinematics. Very few robots are regularly pushed to the limit where the dynamic model becomes important since this will lead to greatly reduce operational life and high maintenance costs. In this chapter we consider that part of the manipulator kinematics known as forward kinematics. 213 214 Robotics FIGURE Position of a point P in a Cartesian coordinate frame. POSITION AND orientation of objects in space Object Coordinate Frame Position Orientation and Frames The manipulator hand s complete information can be specified by position and orientation. The position of a point can be represented in Cartesian space by a set of three orthogonal right-handed axes X Y Z called principal axes as shown in Figure . The origin of the principal axes is at O along with three unit vectors along these axes. The position and orientation pair can be combined together and defined as an entity called frame which is a set of four vectors giving position and orientation information. n sx ax p F n _0 s 0 a 0 P 1 _ n nz sy sz ay az Py Pz where P Py pz 0 0 0 1 1 The above equation represents the general representation of a frame. In the above frame n s and a are the unit vectors in the three mutually perpendicular directions which represent the orientation and P represents the .

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