I'm going to notate the robot and indicate the length of its two links and indicate the two joint angles. Let's follow a similar procedure to determine the pose of the end effector of these two-link robot. So if the robot wants to be at this particular xy coordinate, there is no other orientation of this link of the robot that's possible because orientation and position are highly coupled. With this two-degree of freedom robot, although we can adapt any x-y coordinate within its working space, it can’t adapt an arbitrary orientation. My two-degree of freedom robot can adapt any x-y coordinate within the maximum circle. Now I'm going to add a second joint to the robot that I've shown you before and this robot is a little bit interesting in that the end effector can reach any particular point within an outer maximum circle described by this, like an easily adaptive position like this, like an adaptive position like that.
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