By Adam Morecki, Jozef Knapczyk
This quantity includes the fundamental techniques of recent robotics, uncomplicated definitions, systematics of robots in undefined, provider, medication and underwater job. vital info on jogging and mili-walking machines are incorporated in addition to attainable purposes of microrobots in drugs, agriculture, underwater activity.
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Additional info for Basics of Robotics: Theory and Components of Manipulators and Robots
Oderfeld J: Theory of machines and mechanisms. Warsaw, PWN, 1987 (in Polish). : Determining the Number of Degrees of Freedom for the Industrial Robot End-Effector. 6, 1985 (in Russian). 6] Roboter in der Geratetechnik. Herausgegeben von G. Bogelsack, E. Kallenbach. G. Linnemann. Berlin, VEB Verlag Technik, 1984. 7] Mechanics oflndustrial Robots. l. Moscow, Vyssaja Skola, 1988 (in Russian). 2. 4. 8] Morecki A .. : Cybernetic systems of Limb Movements in Man, Animals and Robots. PWN-Ellis Horwood Limited Publisher, Chichester, 1984.
The center of the orienting wrist lying in the Jacobian surface must move in a plane tangent to this surface. Jacobian surfaces may be situated at the boundary of the workspace, or inside it. 11) Op;x Opjz Opjz dpfz dq3 where Pi= Pix i + PiYj + Piz k. k The motion of the wrist center is singular only when the determinant of the Jacobian matrix equals zero. As the determinant of the Jacobian matrix is equal to the determinant of the transposed matrix, the singularity condition can be written as: tP1x tPjy tPJz tXfJ iii!
W ~ Cartesian 3P z. z 8 ~) -~'I' "( I~ 4~ ·li I tiij ~ 0 2. 3. Systematization of manipulators and robots 29 Using the criterion of control, we can distinguish four groups of robots ranging from a simple electromechanical control system fitted with motion limiters and switches, to computer control systems of the on-line type: - robots with a permanent program (performing successive operations according to a set or changeable sequence - that is the order of the operations can be changed); -robots with a discrete point-to-point program (PTP): playback robots (with memory to record a set of operations petformed manually beforehand); -robots with continuous control (CP - continuous path control): a robot programmed off-line or on-line and operated in the mntime.
Basics of Robotics: Theory and Components of Manipulators and Robots by Adam Morecki, Jozef Knapczyk