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A spherical robot, also known as spherical mobile robot, or ball-shaped robot is a mobile robot with spherical external shape. [1] A spherical robot is typically made of a spherical shell serving as the body of the robot and an internal driving unit (IDU) that enables the robot to move. [2] Spherical mobile robots typically move by rolling over ...
Once the radius is fixed, the three coordinates (r, θ, φ), known as a 3-tuple, provide a coordinate system on a sphere, typically called the spherical polar coordinates. The plane passing through the origin and perpendicular to the polar axis (where the polar angle is a right angle) is called the reference plane (sometimes fundamental plane).
Special cases are right triangles (p q 2). Uniform solutions are constructed by a single generator point with 7 positions within the fundamental triangle, the 3 corners, along the 3 edges, and the triangle interior. All vertices exist at the generator, or a reflected copy of it. Edges exist between a generator point and its image across a mirror.
The position of a single particle moving in ordinary Euclidean 3-space is defined by the vector = (,,), and therefore its configuration space is =.It is conventional to use the symbol for a point in configuration space; this is the convention in both the Hamiltonian formulation of classical mechanics, and in Lagrangian mechanics.
Additional degrees of freedom allow to change the configuration of some link on the arm (e.g., elbow up/down), while keeping the robot hand in the same pose. Inverse kinematics is the mathematical process to calculate the configuration of an arm, typically in terms of joint angles, given a desired pose of the robot hand in three dimensional space.
Delta robot of the FlexPicker series by ABB. Sketchy, a portrait-drawing delta robot [1] A delta robot is a type of parallel robot [2] that consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector. [3]
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. [1] [2] 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.
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.