Kinematic Control of Arm-Type Robots

We want a time-staying pose that the robot can follow. TRUE. FALSE.

What provides kinematic control to be tracked by every robot joint along time?. Trajectories. Time-varying pose. Physical constraints.

Objectives of trajectories to track by every robot joint along time: Specific starting point, a given end-effector trajectory and inverted time to perform the task. Specific starting point, a given end-effector trajectory and invested time to perform the task. Specific destination point, a given end-effector trajectory and invested time to perform the task.

Pay attention to physical criteria (smoothness, accuracy, ...) and quality criteria of actuators. TRUE. FALSE.

To track this trajectory in the end-effector space... These joint trajectories must be tracked. These cartesian trajectories must be tracked.

Objectives: Physical constraints. -Not all cartesian trajectories can be tracked -Actuator saturation must be taken into account -Other issues: Singularities and multiple solutions. -Not all joint trajectories can be tracked -Sensor saturation must be taken into account -Other issues: Singularities and singular solutions. -Not all joint trajectories can be tracked -Actuator saturation must be taken into account -Other issues: Singularities and singular solutions. -Not all joint trajectories can be tracked -Actuator saturation must be taken into account -Other issues: Singularities and multiple solutions. -Not all cartesian trajectories can be tracked -Sensor saturation must be taken into account -Other issues: Singularities and multiple solutions.

Objectives: Sampling. -Destination point: €=(x,y,z, psi, theta, phi) -Type of trajectory -Time to be invested or velocity -Required accuracy for the destination point or the trajectory. -Initialization point: €=(x,y,z, psi, theta, phi) -Type of trajectory -Time to be invested or velocity -Required accuracy for the destination point or the trajectory. -Destination point: €=(x,y,z, psi, theta, phi) -Type of trajectory -Time to be invested or position -Required accuracy for the destination point or the trajectory. -Initialization point: €=(x,y,z, psi, theta, phi) -Type of trajectory -Time to be invested or position -Required accuracy for the destination point or the trajectory.

Objectives: Joint trajectory generator. -Maximum velocity and acceleration of every joint -Dynamic model. -Minimum velocity and acceleration of every joint -Kinematic model. -Minimum velocity and acceleration of every joint -Dynamic model. -Maximum velocity and acceleration of every joint -Kinematic model.

Objectives: Sampling. Continuous-time cartesian trajectories. Discrete-time cartesian trajectories. Continuous-time joint trajectories. Discrete-time cartesian trajectories.

Objectives: Dynamic control. Sampled (discrete-time) references for the dynamic control. Sampled (continuous-time) references for the dynamic equations. Sampled (continuous-time) references for the kinematic control. Sampled (continuous-time) references for the dynamic control.

Objectives: Convert a motion specification into an iterative trajectory in end-effector Cartesian coordinates. TRUE. FALSE.

Objectives: Sample the obtained Cartesian trajectory to obtain a infinite number of end-effector poses. TRUE. FALSE.

Objectives: Using inverse kinematics, convert only one of these end-effector Cartesian poses into the corresponding joint coordinates. TRUE. FALSE.

Objectives: Interpolate the joint coordinates, generating, for every joint, a continuous-time trajectory which goes through or approaches the required joint coordinates, being not feasible for actuators. TRUE. FALSE.

Objectives: Sample the obtained joint trajectories to generate discrete-time references for the dynamic-controller. TRUE. FALSE.

Types of end-effector trajectories: Point-to-point trajectories -One-axis movement -All-axes Continuous trajectories -Coordinated trajectories. Point-to-point trajectories -One-axis movement Continuous trajectories -All-axes -Coordinated trajectories. Point-to-point trajectories Continuous trajectories -One-axis movement -All-axes -Coordinated trajectories. Point-to-point trajectories -One-axis movement -All-axes -Coordinated trajectories Continuous trajectories.

Types of end-effector trajectories: Point-to-point trajectories. The destination doesn't matter, only the path matters. The path doesn't matter, only the destination does.