Calculation of robot articulation variables
The problem to be studied in this chapter is crucial to the use of an AMS. Suppose that the robot illustrated in Figure 26 is to be used to grip an object, using a structure such as the manipulator shown in Figure 20. Knowing the location of the table and the cylinder, the required position of the robot must be determined. Then, with the manipulator in configuration 1, it is necessary to determine the changes which need to be applied to the various articulated variables to bring them to configuration 2 (whilst avoiding obstacle A). These problems involve all aspects of robot control: plan and trajectory generation and the reaction with the environment. A necessary step in solving the problem of control is to establish transformation of known data concerning the task space to data concerning the articulated variables.
KeywordsUnknown Variable Robot Control Trajectory Generation Task Space Compatibility Constraint
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