Titlebook: Industrial Robotics Control; Mathematical Models, Fabrizio Frigeni Book 2023 Fabrizio Frigeni 2023 Robots.Kinematic models.Manipulators.Cob

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一再烦扰

Industrial Robots,The word robot is very general and normally identifies all sorts of automatically moving machines. This book focuses on robotic arms, also called manipulators, typically employed in factories for manufacturing tasks (see example shown in Figure 1-1).

喃喃诉苦

Geometrical FrameworkWe present here the concept of frames and their operations. Frames are the geometrical foundation of robotic arms, and understanding how to handle them is an important step toward solving kinematic models. The framework we present has general validity, regardless of the robotic structure we need to solve.

Diuretic

Inverse KinematicsIn the previous section, we derived the model for the forward kinematics: we calculated the TCP pose given the values of the joint axes. In this section, we solve the inverse problem: find the values of the joint axes given the position and orientation of TCP relative to the base frame (see Figure 4-1).

金丝雀

Path-PlanningA . is the geometrical description of the robot’s movement in space. Given two points A and B, there are many different (actually infinite) possible paths to connect them. A straight line is the simplest path, but any kind of other curve could be programmed (see Figure 5-1).

Chagrin

Workspace MonitoringIn the path-planning chapter, we have learned how to describe several different curves in space using parametric equations. However, while all those formulas can generate mathematically valid paths, it is not always physically possible for the robot’s TCP to move along those curves.

褪色

Trajectory GeneratorIn the previous chapters, we have learned how to describe a path geometrically, by means of parametric equations. Now, we need to learn how to let the robot run along those curves.

Anhydrous

Statics and DynamicsIn this chapter, we introduce the concepts of statics and dynamics for robots. These are advanced topics and are not strictly necessary for most practical applications, but it is good to have at least an idea of what they are and what advantage they can add to a robotic control system.

ABHOR

macrophage

CalibrationWe have now completed the development of our robotic control software, and we are ready to sell it. In theory, the customer could quickly insert the right parameters in the configuration pages, and the robot should work correctly. In practice, however, the process is not that straightforward.