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robotics1 [2024/02/07 10:27] – [Robot programming] adminrobotics1 [2024/03/13 11:46] – [Robot movements] admin
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   * 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)   * 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: 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://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]])   * 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]])
  
robotics1.txt · Ultima modifica: 2024/03/13 11:52 da admin