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Introduction to Robotics Mechanics and Control Notes
Shuai YUAN edited this page May 22, 2019
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- link length
- link twist
Denavit–Hartenberg notation
Cartesian space / task-oriented space / operational space
- The base frame {B}
- The station frame {S}: task frame / world frame / universe frame
- The wrist frame {W}
- origin: wrist of the manipulator
- defined related to the base frame
- The tool frame {T}
- always specified with respect to the wrist frame
- The goal frame {G}
- always specified with respect to the station frame
- dextrous workspace
- reachable workspace
Method of solution
- closed-form solutions
- numerical solutions
- taught point
- computed point
- angular velocity vector
- angular-velocity matrix (skew-symmetric)
- angular-velocity vector
- via points
- path points = initial point + via points + final point
- motion smooth
- through point: a path point through which we force the manipulator to pass exactly
- intermediate points unreachable
- high joint rates near singularity
- start and goal reachable in different solutions