Podcast
Questions and Answers
A two-degree-of-freedom robot needs to move from point A to point B. At point A $\alpha = 20°$ and $\beta = 30°$, while at point B $\alpha = 40°$ and $\beta = 80°$. If both joints move at a maximum rate of $10°/s$, what happens after two seconds?
A two-degree-of-freedom robot needs to move from point A to point B. At point A $\alpha = 20°$ and $\beta = 30°$, while at point B $\alpha = 40°$ and $\beta = 80°$. If both joints move at a maximum rate of $10°/s$, what happens after two seconds?
- Only the upper link reaches its final position, while the lower link continues moving.
- Only the lower link reaches its final position, while the upper link continues moving. (correct)
- Neither joint reaches its final position.
- Both joints reach their final positions simultaneously.
In the two-degree-of-freedom robot example, if the motions of both joints are normalized such that they start and stop simultaneously, which statement accurately describes the joint movements?
In the two-degree-of-freedom robot example, if the motions of both joints are normalized such that they start and stop simultaneously, which statement accurately describes the joint movements?
- Both joints move at different speeds, with the joint requiring smaller motion moving proportionally faster.
- The joint with the larger motion remains stationary until the other joint catches up.
- Both joints move at different speeds, with the joint requiring smaller motion moving proportionally slower. (correct)
- Both joints move at the same speed.
What is the primary characteristic of a trajectory planned in joint-space, as described in the example?
What is the primary characteristic of a trajectory planned in joint-space, as described in the example?
- It requires complex calculations involving inverse kinematics.
- It guarantees a smooth and predictable path for the robot's end-effector.
- It only requires the joint values for the destination and, optionally, normalization of joint velocities. (correct)
- It ensures the robot's end-effector moves in a straight line.
Consider the scenario where the two-degree-of-freedom robot's joints move at their maximum angular velocities without normalization. Which of the following statements best describes the resulting path?
Consider the scenario where the two-degree-of-freedom robot's joints move at their maximum angular velocities without normalization. Which of the following statements best describes the resulting path?
How does normalizing the joint velocities affect the movement of the two-degree-of-freedom robot from point A to point B?
How does normalizing the joint velocities affect the movement of the two-degree-of-freedom robot from point A to point B?
What is a direct consequence of normalizing joint velocities in the context of robot trajectory planning?
What is a direct consequence of normalizing joint velocities in the context of robot trajectory planning?
In the described scenario, if the robot's joints are not normalized for velocity, and one joint completes its motion before the other, what is a potential outcome?
In the described scenario, if the robot's joints are not normalized for velocity, and one joint completes its motion before the other, what is a potential outcome?
Consider two different trajectory plans for the robot moving from point A to point B: one with normalized joint velocities and one without. What is a key difference in the resulting movements?
Consider two different trajectory plans for the robot moving from point A to point B: one with normalized joint velocities and one without. What is a key difference in the resulting movements?
For the two-degree-of-freedom robot, suppose you want to prioritize a smooth, predictable path for the end-effector. Based on the information provided, which approach is more suitable?
For the two-degree-of-freedom robot, suppose you want to prioritize a smooth, predictable path for the end-effector. Based on the information provided, which approach is more suitable?
When planning a robot's trajectory in joint space for a task requiring precise coordination between joints, why might normalizing joint velocities be preferred?
When planning a robot's trajectory in joint space for a task requiring precise coordination between joints, why might normalizing joint velocities be preferred?
Flashcards
Joint-Space Trajectory Planning
Joint-Space Trajectory Planning
Planning a robot's path by directly controlling the angles of its joints.
Normalized Joint Velocities
Normalized Joint Velocities
Normalizing joint motions ensures simultaneous start and stop times, adjusting speeds proportionally.
Irregular Path in Joint-Space
Irregular Path in Joint-Space
Trajectories planned in joint-space may result in irregular end-effector paths.
Joint-Space Calculation
Joint-Space Calculation
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Study Notes
- A simple two-degree of freedom robot moves from point A to point B to understand the basics of planning a trajectory in joint-space and Cartesian-space.
- At point A, alpha = 20 degrees and beta = 30 degrees.
- At point B, alpha = 40 degrees and beta = 80 degrees.
- Both joints have a maximum movement rate of 10 degrees/second.
- Both joints of the robot can move at the maximum rate of 10 degrees/sec.
- The robot's lower link finishes its motion after two seconds when running both joints at their maximum angular velocities.
- The upper link continues for another three seconds, resulting in an irregular path and non-uniform distances traveled by the robot's end.
- When the motions of both joints of the robot are normalized by a common factor, the joint with smaller motion moves proportionally slower, and both joints start and stop their motion simultaneously.
- In this case, alpha changes 4 degrees per second, while beta changes 10 degrees per second.
- The movement segments are more similar, but the path remains irregular and different from the previous case.
- Both cases were planned in joint-space, requiring only the joint values for the destination and, in the second case, normalization of the joint velocities.
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