Notes
- Robot → Fixed, Mobile. → industry, service → home, medical, education, defence
- Activities → Sensing, Decision making, Perform Actions
- A Robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the paerformance of a variety of tasks.
- AUV - Autonomous Underwater Vehicle, UUV - Unnamed Underwater Vehicle
- R - Revolute, P - Prismatic
- Configuration → Complete specification of every point on the manipulator
- Configuration space → set of all configurations
- State → configuration, rate of change of configuration
- State Space → Set of all possible states.
- End effector → last link in the manipulator
- Work Space → total volume swept b the end effector as the manipulator executes all possible motions (2 types, Reachable, Dextrous)
- The reachable workspace is the entire set of points reachable by the manipulator, whereas the dexterous workspace consists of those points that the manipulator can reach with an arbitrary orientation of the end-effector. Obviously the dexterous workspace is a subset of the reachable workspace.
- Classification of Robotic Manipulators(power source) → Electrical, Hydraulic, Pneumatic
- Classification of Robotic Manipulators(method of control) → Servo(feedback), Nonservo(not robotic)
- Classification of Robotic Manipulators(Application Area) → Assembly, Non assembly
- Accuracy → measure of how close the manipulator can come to a given point within the workspace.
- Repeatability → measure of how close the manipulator can return to its previous position