what is a robot?what r the 4 parameters
Answers
Answer:
A robot is a machine designed to execute one or more tasks automatically with speed and precision. ... Industrial robots, for example, are often designed to perform repetitive tasks that aren't facilitated by a human-like construction. A robot can be remotely controlled by a human operator, sometimes from a great distance.
Explanation:
Step 1: Get a Pencil and Paper
DH-PARAMETERS
It can be tempting to jump straight for the computer when starting out with a new robot. However, even if the robot looks like a "standard" 6R manipulator I always sit down with a pencil and paper to draw out the kinematic diagram. This simple task forces you to carefully consider the actual physical configuration of the robot, avoiding false assumptions which can wreak havoc later on during coding.
There are various ways to draw a kinematic chain. Pick whichever style you prefer. I favor simple cylinders for the revolute joints and lines for the links. Do a Google Image Search for "kinematic diagram" and see some of the different styles available.
As you draw, work out which way each joint moves and draw this motion as double-ended arrows onto the diagram.
Step 2: Figure Out Your Axes
The next key step is to draw the axes onto each joint. The DH approach assigns a different axis to each movable joint.
If you set up your axes correctly then working with the robot will be easy. Set them up incorrectly and you will suffer countless headaches. These axes will be required by simulators, inverse kinematic solvers and even other researchers (nobody wants to solve a Forward Kinematic solution if someone else has already done it).
The z-axis should lie on the axis of rotation, for a revolute joint, or axis of extension, for a prismatic joint. Have a look at this video to see how to set them up. The x-axis should lie along the "common normal", which is the shortest orthogonal line between the previous z-axis and the current z-axis (seriously, watch the video).
Personally, I draw the axes using the following coloring: z-axis (blue), x-axis (red) and y-axis (green). This is the coloring scheme that's used in the RViz visualizer from ROS. Back in my undergraduate days, our lecturer made an axis "sculpture" out of three colored straws stuck into a sphere of blue-tack to explain the theory to us. Though this might seem a bit "playschool," it can sometimes actually be helpful as you can position the sculpture next to the physical robot to make sure you've got the axes pointing in the right direction. For a virtual version of this, check out this interactive tool.
Step 3: Remember Your End Effector
ROBOTIQ-3-FINGER-DH-PARAMETERS
The goal of calculating the Forward Kinematics is to be able to calculate the end effector pose from the position of the joints.
Most Forward Kinematic tutorials will generalize the end effector as a single distance from the final joint. This is fine for a simple "open-close" gripper. However, as modern grippers are often more complicated than this, it's worth considering how the end effector operates. The Robotiq 3-Fingered Adaptive Gripper, for example, has a few different gripping modes. Each mode will correspond to a slightly different desired end effector pose. You should consider the end effector carefully when formulating the kinematic model.
Step 4: Calculate the DH parameters
Denavit-Hartenberg parameters are often required to enter the robot model into a simulator and start performing any sort of analysis on it.
The best way to visualize the DH parameters is to watch this video (it's the same video as in the previous step, but really watch it).
The DH parameters break down each joint of the robot into four parameters, each taken with reference to the previous joint. They are calculated in reference to the "common normal" described above. Note that if the previous z-axis intersects the current z-axis, which is often the case, the common normal has a length of zero.
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