PPT-Dynamics of Robot Manipulators

Purpose This chapter introduces the dynamics of mechanisms  A robot can be treated as a set of linked rigid bodies Each link body experiences the motion dynamics contributed by its own joint motor plus the cumulative effect of the other links that form a dynamic chain This means that we must recursively accumulate the net dynamics by moving from one link to the next This approach is referred to as the NewtonEuler recursive equations The equation types are distinguished as Newton for force equations and as Euler for moment equations . Robot Obstacle domainofresponsibility (a)Robottoblame Robot Obstacle (b)Bothtoblame Robot domainofresponsibility (c)Sensor-dependentdo-mainofresponsibility Robot Obstacle b Collision (d)Collision,butb Ready, SET, Go! Workshop. SDSU, Fall 2013. Programming is Fun!. Tell the Robot exactly what to do & watch it run.. Be Specific!. Use Loops to repeat statements.. Put several actions together to make a dance!. IntroductionManipulator placement in an environment such that it will perform a number of taskswith maximum dexterity is a challenging problem. In this paper, a mathematicalformulation is presented ba Sonia Chernova Manuela . Veloso. Carnegie Mellon University. Computer Science Department. Policy Development. Learning from Demonstration:. Access/select sensor data. Develop actions. Provide demonstrations. Mechanical. MVRT. 10-09-2006. DESIGN II. What is a. QUESTION I. manipulator. ?. What is a. QUESTION I. manipulator. ?. Element that interacts with other objects. ANSWER I. Manipulators work through physical contact. By: Brandon Blakemore . What is Object Manipulation?. Object Manipulation is when a robot interacts with its environment. . Manipulators . Plow: A plow is a type of manipulator that moves the objects without picking them up. . 2011/12/08. Robot Detection. Robot Detection. Better Localization and Tracking. No Collisions with others. Goal. Robust . Robot . Detection. Long . Range. Short. . Range. Long Range. C. urrent . M. ethod. Apr 4, 2014. Sarosh Patel & . Tarek. . Sobh. RISC Laboratory. University of Bridgeport. ASEE Zone 1. Conference. Objective. Apr 4, 2014. 2. To design manipulators based on task description such that task performance is guaranteed under user specified task / operating constraints.. Save a copy of this . powerpoint. – click on links or do a . google. search. Type your answers on the . powerpoint. and save it.. Your Name: . Disaster. Disaster has struck in the form of a bomb threat, land mine removal, and a nuclear attack. Read about the robots, watch the clips, and choose the appropriate robot for each disaster.. A machine that does work on its own. A device that gathers information from the environment. A machine capable of performing and extending human tasks. All of the above. 2. Many experts believe that the next big advancement in technology will be in the area of:. Lecture Series 2. ME 4135 . R. R. Lindeke. Intuitive Kinematics for Robot Manipulators. Defining the concept of the Kinematic Solution. Finding Kinematic Solutions for . POSITIONAL. issues (only!). Kris Hauser. CS B659: Principles of Intelligent Robot Motion. Spring . 2013. Agenda. Basic elements of simulation. Derive the . standard form. of the dynamics of an articulated robot in joint space. Roller Collectors. Lucien Junkin - 118. Robonauts Intake Philosophy. Touch It .......... Own It. We strive to control the game piece as soon as we touch the game piece with the robot. . Prototype ..... Prototype ..... Prototype. In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e