(精选)【机器人系列】Basic Concepts in Robotics教学课件.pptVIP

Dan O. Popa, Robotics EE4315/5325 Fall 2011 Lecture 4:Basic Concepts in Robotics In this lecture, you will learn: Basic Robotics concepts: Kinematics, Dynamics, Control Robot Manipulator Configurations Mobile Robot Configurations Precision and other performance metrics Robot Subsystems A mechanical structure. For manipulators this structure consists of a set of rigid bodies (links), connected by means of articulations (joints). Links and joints can also be described in terms of an arm (for mobility), a wrist (for dexterity) and an end-effector (for performing the task). For mobile robots, the structure consists of a chassis with a locomotion mechanism, in the form of legs, wheels, rotor blades, etc. Actuators. These set the robot in motion through actuation of its joints, and are typical electric or hydraulic. Sensors. These measure the status of the manipulator (propriceptive sensors) and the status of the environment (heteroceptive sensors). A control system. This enables control and supervision of the robot, and is usually a computer with a graphical user interface, a pendant, or a remote controller. Mechanics of Manipulators We describe robotic manipulators in terms of their degrees of freedom (DOFs). 6 DOFs are needed to position and orient an object in a unique way in the 3D space. Most robots have no more than 6 degrees of freedom. If they do, they are called redundant robots. Redundant robots can be ideal for situations requiring reaching out behind certain obstacles. The manipulator links are connected together in chains. Chains can be open or closed. Manipulators with open chains are also called serial, while the ones with closed chains are called parallel. Joints allow relative motion between links, and can be rotary (revolute – R ) or linear (prismatic –P ). The workspace of the manipulator is the total volume swept out by the end-effector of the manipulator. The workspace may be constrained by the fact that not all joints can rotate 360 de