What are the types of Robot Configurations?
- Cartesian: 3 Linear Joints 3P
- Cylindrical: 2 Prismatic and 1 Revolute R2P
- Spherical: 1 Prismatic and 2 revolute 2RP
- Articulated: All joint are revolute
- SCARA: 2R1P
What is a reference frame in robotics?
Is a coordinate system used to define and control the position and orientation of robot.
What are the types of reference frame?
-World Reference Frame: Universall frame defined by xyz axes
-Joint Reference Frame: Controls individual Joint movements one at time
- Tool Reference Frame:Defines movements relative to the robotic tool
Define DOF in robotics?
Degree of Freedom refer to the number of independent movements a robot can perform. Typically, a robot’s DOF corresponds to the number of axes along which it can move xyz or rotate( pitch, yaw, roll)
Compare btw non-servo controlled and servo controlled?
non-servo:
- Use mechanical stops or limits to control joint motion
- Sequence is controlled by feedback from end stops
- Simple, low cost, and reliable.
- Limited flexibility, typically used in repetitive tasks.
Servo- Controlled robots:
- Use closed-loop feedback to monitor and adjust joint position and velocity
- Offer greater precision and flexibility
- Suitable for complex task like contentious path control
Explain Asimove’s Law
1st: A robot may not injure human being or through inaction, allow a human being to come to harm.
2nd: A robot must obey the orders given by humans unless it conflicts with the first law
3rd: A robot must protect its existence as long as it doesn’t conflict with the First or Second Laws.
What are direct and inverse kinematics in robotics?
Direct Kinematics (forward): Involves determining the positions and orientation of a robot’s end effector( tool or gripper) based on the given join parameters( angles, displacements, or lengths)
inverse Kinematics: Involves determining the joint parameters( angles, displacements) required to achieve a desired position and orientation of the end effector
