anhtuduong
commented
9 months ago - Using MoveIt package to create config for UR5
- Using joints limit to avoid verbose trajectory
Open anhtuduong opened 1 year ago
anhtuduong
commented
9 months ago
Kinematics in a robot project refers to the study of the motion of robots without considering the forces or torques that cause the motion. It focuses on describing and understanding the relationship between the position, velocity, and acceleration of robot components, such as joints and end effectors (the tool or device attached to the robot's arm).
Kinematics plays a crucial role in robot projects because it helps engineers and designers analyze and control the robot's movement. By understanding the kinematics of a robot, they can determine how the robot's joints should move to achieve a desired end effector position or trajectory.
Robot kinematics can be divided into two main categories: forward kinematics and inverse kinematics.
Forward Kinematics: This involves determining the position and orientation of the robot's end effector based on the joint angles or joint displacements. It allows engineers to predict where the robot's end effector will be located in space for a given set of joint values.
Inverse Kinematics: Inverse kinematics, on the other hand, deals with finding the joint angles or joint displacements required to achieve a specific position and orientation of the end effector. It is particularly useful for tasks such as robot path planning, where the desired end effector position is known, and the joint angles need to be calculated to reach that position.
By applying kinematic principles, engineers can design and program robots to perform various tasks accurately and efficiently. Kinematic analysis also helps in collision avoidance, workspace analysis, trajectory planning, and control algorithms for robot motion.
1. Forward kinematics:
Given the joint angles of the robot arm, calculate the position and orientation of the end-effector (gripper).
2. Inverse kinematics:
Given a desired position and orientation of the end-effector, calculate the joint angles required to achieve that pose.
3. Singularity avoidance:
Avoiding singularities (positions where the robot loses a degree of freedom) is important for the robot to maintain its accuracy and avoid collisions.
4. Workspace analysis:
Analyzing the robot's workspace and determining the reachable positions and orientations of the end-effector.
5. Joint limit checking:
Checking the joint angles and making sure they stay within their limits to avoid damaging the robot.
6. Trajectory planning:
Planning the trajectory of the robot arm to move from one position to another in a smooth and efficient manner.
7. Gripper control:
Controlling the opening and closing of the gripper to pick up and release Lego blocks.
8. Calibration:
Calibrating the robot arm to ensure accurate movements and positioning.
9. Error handling:
Handling any errors that may occur during the kinematics calculations or robot movements.