机器人系列BasicConcepts in .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,