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--- robotics1 [2024/02/07 10:27] – [Robot programming] admin
+++ robotics1 [2024/03/13 11:52] (versione attuale) – [Types of robots] admin
@@ Linea 42: / Linea 42: @@
 There most common types of industrial robots are:
-  * [[https://en.wikipedia.org/wiki/Programmable_Universal_Machine_for_Assembly|PUMA-like]]((see also this 1981 [[https://digital.hagley.org/islandora/object/islandora%3A2650820|promotional video]])) 6 DOF articulated industrial robots, for high power industrial applications (welding, assembling, etc.)
+  * [[https://en.wikipedia.org/wiki/Programmable_Universal_Machine_for_Assembly|PUMA-like]]((see also this 1981 [[https://digital.hagley.org/islandora/object/islandora%3A2650820|promotional video]] [[https://web.archive.org/web/20231220114035/https://digital.hagley.org/islandora/object/islandora%3A2650820|alternative link from archive.org]])) 6 DOF articulated industrial robots, for high power industrial applications (welding, assembling, etc.)
   * [[https://www.youtube.com/watch?v=ox5bhKqKbTk|SCARA robots]], which are 4 DOF fast, simple and accurate robots
   * [[https://www.youtube.com/watch?v=QFZMhsVn_CE|delta robots]], which are 4 DOF very fast and low-inertia 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://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|}}