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Kinematics, Robot Components and Specifications
Robotics · Chapter 3 · Unit 2: Mechanical System
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Topics 6
- Robot kinematics: planar open-chain mechanisms; forward kinematics of 2R and RP configurations
- Robot frames and materials: MDF, acrylic, aluminium and steel
- Wheel types: standard, castor, mecanum and omni wheels
- Cartesian, polar and cylindrical coordinates for robot positioning
- Specifications: resolution, accuracy and repeatability
- Current trends: high-resolution encoders, sub-micron resolution, integrated vision, calibration, dynamic error compensation, adaptive control