Differenze

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--- robotics1 [2023/05/10 15:39] – [Robot movements] admin
+++ robotics1 [2024/03/13 11:49] – [Robot programming] admin
@@ Linea 37: / Linea 37: @@
   * speed
   * accuracy and repeatability
-  * DOF (or //Degrees of Freedom//): number of independent motions which Is usually the same as the number of axes
+  * DOF (or //Degrees of Freedom//): number of independent motions, which is usually the same as the number of axes
 ==== Types of robots ====
@@ Linea 62: / Linea 62: @@
   * defining target positions, specifying the end-effector Cartesian position (x,y,z coordinates and [[https://en.wikipedia.org/wiki/Aircraft_principal_axes|axes orientation]]) and a preferred path to get there (either linear or circular)
 The latter is much more convenient and is by far the most used, but requires //inverse kinematic// calculations to be performed by the robot controller, in order to find out joints position and velocity to get to the target. When doing so it should be considered that:
-  * there are more various configurations with the same target to choose from
+  * each target can be reached with more than one configuration (joint and link positions)
-  * some configurations or some paths must be avoided because of [[https://www.mecademic.com/en/what-are-singularities-in-a-six-axis-robot-arm|singularities]]; these are configurations where one or more joints are blocked,  velocity increases rapidly and inverse kinematic calculations can fail (see [[https://www.youtube.com/watch?v=lD2HQcxeNoA|this video]] or [[https://www.youtube.com/watch?v=6Wmw4lUHlX8|this one]])
+  * some configurations or some paths must be avoided because of [[https://en.wikipedia.org/wiki/Industrial_robot#Singularities|singularities]]; these are configurations where one or more joints are blocked,  velocity increases rapidly and inverse kinematic calculations can fail (see [[https://www.youtube.com/watch?v=lD2HQcxeNoA|this video]] or [[https://www.youtube.com/watch?v=6Wmw4lUHlX8|this one]])
 ==== Robot programming ====
-Every robot comes with a controller, which has the double purpose of powering the robot and interfacing it with other devices. Most robots come with a particular device, attached to its controller, called //teach pendant//. This is an handheld touchscreen device used to directly control the robot, moving or //jogging// its axes, and to  program it with a simple interface.
+Every robot comes with a controller, which has the double purpose of powering the robot (like a driver) and doing calculations and interfacing it with other devices (like a computer). Most robots come with a particular device, attached to its controller, called //teach pendant//. This is an handheld touchscreen device used to directly control the robot, moving or //jogging// its axes, and to  program it with a simple interface.
 {{:riservata:teach_pendant.jpg?300|}}
-The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called on-line programming, requires the presence of the robot and its operator in the production environment. Conversely //off-line programming// happens elsewhere on a PC, and makes use of a more powerful //Integrated Development Environment// which can often simulate the robot and its environment. This allows for testing multiple scenarios before setting up the robotic cell and using more complex tools or languages when required.
+The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called //on-line programming//, requires the presence of the robot and its operator in the production environment. Conversely //off-line programming// happens elsewhere on a PC, and makes use of a more powerful //Integrated Development Environment// which can often simulate the robot and its environment. This allows for testing multiple scenarios before setting up the robotic cell and using more complex tools or languages when required.