Related Research Articles
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging.
In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation.
Lego Mindstorms NXT is a programmable robotics kit released by Lego on August 2, 2006. It replaced the first-generation Lego Mindstorms kit, which was called the Robotics Invention System. The base kit ships in two versions: the Retail Version and the Education Base Set. It comes with the NXT-G programming software, or optionally LabVIEW for Lego Mindstorms. A variety of unofficial languages exist, such as NXC, NBC, leJOS NXJ, and RobotC. The second generation of the set, the Lego Mindstorms NXT 2.0, was released on August 1, 2009, featuring a color sensor and other upgraded capabilities. The third generation, the EV3, was released in September 2013.
Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. Robotics is related to the sciences of electronics, engineering, mechanics, and software. The word "robot" was introduced to the public by Czech writer Karel Čapek in his play R.U.R., published in 1920. The term "robotics" was coined by Isaac Asimov in his 1941 science fiction short-story "Liar!"
In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters.
In classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines.
In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator.
There are many conventions used in the robotics research field. This article summarises these conventions.
Dynamic simulation is the use of a computer program to model the time-varying behavior of a dynamical system. The systems are typically described by ordinary differential equations or partial differential equations. A simulation run solves the state-equation system to find the behavior of the state variables over a specified period of time. The equation is solved through numerical integration methods to produce the transient behavior of the state variables. Simulation of dynamic systems predicts the values of model-system state variables, as they are determined by the past state values. This relationship is found by creating a model of the system.
In mechanical engineering, the Denavit–Hartenberg parameters are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.
In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes.
20-sim is a commercial modeling and simulation program for multi-domain dynamic systems, which is developed by Controllab. With 20-sim, models can be entered as equations, block diagrams, bond graphs and physical components. 20-sim is widely used for modeling complex multi-domain systems and for the development of control systems.
Kinematics equations are the constraint equations of a mechanical system such as a robot manipulator that define how input movement at one or more joints specifies the configuration of the device, in order to achieve a task position or end-effector location. Kinematics equations are used to analyze and design articulated systems ranging from four-bar linkages to serial and parallel robots.
The following table compares notable software frameworks, libraries and computer programs for deep learning.
The product of exponentials (POE) method is a robotics convention for mapping the links of a spatial kinematic chain. It is an alternative to Denavit–Hartenberg parameterization. While the latter method uses the minimal number of parameters to represent joint motions, the former method has a number of advantages: uniform treatment of prismatic and revolute joints, definition of only two reference frames, and an easy geometric interpretation from the use of screw axes for each joint.
MSC ADAMS is a multibody dynamics simulation software system. It is currently owned by MSC Software Corporation. The simulation software solver runs mainly on Fortran and more recently C++ as well. According to the publisher, Adams is the most widely used multibody dynamics simulation software. The software package runs on both Windows and Linux.
CoppeliaSim, formerly known as V-REP, is a robot simulator used in industry, education and research. It was originally developed within Toshiba R&D and is currently being actively developed and maintained by Coppelia Robotics AG, a small company located in Zurich, Switzerland.
Asynchronous multi-body framework (AMBF) is an open-source 3D versatile simulator for robots developed in April 2019. This multi-body framework provides a real-time dynamic simulation of multi-bodies such as robots, free bodies, and multi-link puzzles, paired with real-time haptic interaction with various input devices. The framework integrates a real surgeon master console, haptic or not, to control simulated robots in real-time. This feature results in the simulator being used in real-time training applications for surgical and non-surgical tasks. It offers the possibility to interact with soft bodies to simulate surgical tasks where tissues are subject to deformations. It also provides a Python Client to interact easily with the simulated bodies and train neural networks on real-time data with in-loop simulation. It includes a wide range of robots, grippers, sensors, puzzles, and soft bodies. Each simulated object is represented as an afObject; likewise, the simulation world is represented as an afWorld. Both utilize two communication interfaces: state and command. Through the State command, the object can send data outside the simulation environment, while the Command allows to apply commands to the underlying afObject.
References
- ↑ Straanowicz, Aaron; Gian Luca Mariottini (2011). "A survey and comparison of commercial and open-source robotic simulator software". Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments. pp. 1–8. CiteSeerX 10.1.1.369.3980 . doi:10.1145/2141622.2141689. ISBN 9781450307727. S2CID 247128.
{{cite book}}: CS1 maint: date and year (link) - ↑ Nourdine, Aliane (September 2011). "Teaching fundamentals of robotics to computer scientists". Computer Applications in Engineering Education. 19 (3): 615–620. doi:10.1002/cae.20342. S2CID 19389930.
- ↑ Corke, Peter (2017). Robotics, Vision & Control (2nd ed.). Springer. ISBN 978-3-319-54412-0.
- ↑ Corke, Peter (2011). Robotics, Vision & Control. Springer. ISBN 978-3-642-20143-1.
- ↑ Craig, John (2004). Introduction to Robotics (3rd ed.). Prentice-Hall.
- ↑ "Robotics System Toolbox". www.mathworks.com. Retrieved 2022-07-23.
- ↑ Corke, Peter; Haviland, Jesse (2021-05-30). "Not your grandmother's toolbox – the Robotics Toolbox reinvented for Python" (PDF). 2021 IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China: IEEE. pp. 11357–11363. doi:10.1109/ICRA48506.2021.9561366. ISBN 978-1-7281-9077-8. S2CID 239037868.
- ↑ Corke, Peter (2022-07-23), Robotics Toolbox for Python , retrieved 2022-07-23