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A fundamental tool in robot kinematics is the kinematics equations of the kinematic chains that form the robot. These non-linear equations are used to map the joint parameters to the configuration of the robot system.
A typical serial robot is characterized by a sequence of six lines S i (i = 1, 2, ..., 6), one for each joint in the robot. For each sequence of lines S i and S i+1, there is a common normal line A i,i+1. The system of six joint axes S i and five common normal lines A i,i+1 form the
Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end-effector acceleration. This information can be used to improve the control ...
A body is usually considered to be a rigid or flexible part of a mechanical system (not to be confused with the human body). An example of a body is the arm of a robot, a wheel or axle in a car or the human forearm. A link is the connection of two or more bodies, or a body with the ground.
The kinematics equations for the series chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement allowed at each joint and separate rigid transformation [X] to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base ...
Atlas is the name used for multiple robot models produced by American robotics company Boston Dynamics.. The first Atlas robot was a bipedal hydraulic humanoid robot primarily developed by Boston Dynamics with funding and oversight from the U.S. Defense Advanced Research Projects Agency (DARPA).
BigDog is a dynamically stable quadruped military robot platform that was created in 2005 by Boston Dynamics with the Harvard University Concord Field Station. [1] It was funded by DARPA, but the project was shelved after the BigDog's gas engine was deemed too loud for combat.
The following outline is provided as an overview of and topical guide to robotics: . Robotics is a branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing.