Issues with Cartesian-Space Paths

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Presentation transcript:

Issues with Cartesian-Space Paths Day 11 Issues with Cartesian-Space Paths 4/13/2019

Joint Velocity Issues consider the RR robot shown below assume that the second joint can rotate by ±180 degrees 4/13/2019

Joint Velocity Issues what happens when it is commanded to follow the straight line path shown in red? 4/13/2019

Joint Velocity Issues 4/13/2019

Joint Velocity Issues jump discontinuity in first derivative = infinite rotational acceleration steep slope = high rotational velocity 4/13/2019

Workspace the reachable workspace of a robot is the volume swept by the end effector for all possible combinations of joint variables i.e., it is the set of all points that the end effector can be moved to 4/13/2019

Workspace consider the RR robot shown below assume both joints can rotate by 360 degrees 4/13/2019

Workspace rotating the second joint through 360 degrees sweeps out the set of points on the dashed circle 4/13/2019

Workspace rotating the first and second joints through 360 degrees sweeps out the set of all points inside the outer dashed circle 4/13/2019

Workspace workspace consists of all of the points inside the gray circle 4/13/2019

Workspace workspace consists of all of the points inside the gray circle 4/13/2019

Workspace consider the RR robot shown below where the second link is shorter than the first assume both joints can rotate by 360 degrees 4/13/2019

Workspace rotating the second joint through 360 degrees sweeps out the set of points on the dashed circle 4/13/2019

Workspace workspace consists of all of the points inside the gray area 4/13/2019

Workspace consider the following straight line path shown in red start point, end point, and all points in between are reachable 4/13/2019

Workspace consider the following straight line path shown in red start point and end point are reachable, but some points in between are not reachable 4/13/2019