Basics 3 min read
Properties of the Jacobian
The Jacobian plays an important role in the analysis, design, and control of robotic systems. It will be used repeatedly…
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Basics 2 min read
Differential Motion
In the previous chapter, the position and orientation of the manipulator end-effecter were evaluated in relation to joint displacements. The…
Basics 2 min read
Kinematics of Parallel Link Mechanisms
Consider the five-bar-link planar robot arm Note that Joint 2 is a passive joint. Hence, angle θ2 is a dependent…
Basics 4 min read
Inverse Kinematics of Planar Mechanisms
The vector kinematic equation derived in the previous section provides the functional relationship between the joint displacements and the resultant…
Basics 5 min read
Planar Kinematics
Kinematics is Geometry of Motion. It is one of the most fundamental disciplines in robotics, providing tools for describing the…
Basics 2 min read
Parallel Linkages
Primitive joints can be arranged in parallel as well as in series. Figure 3.2.1 illustrates such a parallel link mechanism.…
Basics 4 min read
Robot Mechanisms
A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion, and…
Basics 2 min read
Brushless Dc Motors
The DC motor described in the previous section is the simplest, yet efficient motor among various actuators applied to robotic…
Basics 6 min read
Optical Shaft Encoders
The servomechanism described in the previous section is based on analogue feedback technology, using a potentiometer and a tachometer generator.…
Basics 5 min read
PWM switching characteristics
As the PWM frequency increases, the current driven to the motor becomes smoother, and the nonlinearity due to discrete switching…