Welcome to my
blog! Recently, I have read news about the Dexmo F2 gadget, which allows feel objects in the virtual games. This invention not only allows manipulate with
objects, and also allows feel a virtual object by hand in the real world. In
the following post, I will try to explain how basic robots can manipulate
within objects.
Recently,
the industry of robots is very powerful. The robots are capable to perform
different operations and tasks and comparing with humans they do not require
common safety and comfort elements. Many companies try to design and construct
robots based on human actions. We have seen that the humanoid robots try to
mimic human motions and behavior, but it takes many resources and much effort
to make a robot like a human. In this post I will try cover some basic
introductory materials of the motion and control system of the robots and
discuss some main types of elements to the motion system, such as, manipulators
controllers, actuators and etc.
 |
| Dexmo F2 |
Components
of the robots
The component of the
robots consists of mechanical part and control system. The
mechanical part of the robot is divided into manipulator system and the system
of movement. An
industrial robot manipulator is the multilink mechanism with a serial connection of
links and kinematic joints.
The manipulator includes two types of movement joints: a prismatic joint, providing linear motion and a rotational joint, proving an angular motion. For the movement of joints electric,
hydraulic or pneumatic actuators are used. The actuator receives signal from
the controller about the movement of the links and joints. The controller is
like our cerebellum, it does not have ability to make decision, but it controls
our motions.
 |
| A simple robot with links and joints |
Control
System of the robot
In general, the motions of the robots are controlled under a special mean of computer or a smart device. These control devices provided within running some
types of program, which allow change motion of the robots according to the
command on the program. To do this, at first it is necessary to write an
algorithm, and then convert it into the program language. To get an algorithm,
the work place of the robot and location of the each joint should be specified.
The workspace of the robot can be found by writing mathematically equation on the
robot’s links and joints. This means if we know all configurations of the
robot’s links and joints (i.e. length, angles), we can calculate a location, where
we want to place or orientate our robot.
 |
| The kinematic equation of the manipulator on the matrix form |
The kinematic analysis of the
robots
The kinematic analysis of the manipulator is connections of the joints, which define the basic movements of the robot in the working place, and describes it on the coordinate system. In recent years, most often used method to solve the
kinematic analysis is based on the transformation matrix of homogenous
coordinates. Using this method we can get an algorithm for the software
programming and applying this program we can get a motion of the robots.
Reference
list:
Bit-tech, “Dexta Robotics unveils Dexmo F2 VR
controller”. http://www.bit-tech.net/news/hardware/2014/10/02/dexmo-f2/1
(accessed 2 October,
2014).
OurEdu Blog, “Kinematics-forward and inverse analysis”. http://blog.oureducation.in/kinematics-forward-and-inverse-analysis/(accessed
4 October, 2014).
Ron Robotics, “Introduction to Robotics”. http://www.rakeshmondal.info/Introduction-To-Robotics (accessed 2 October, 2014).
The Future of Human Evaluation, “Introduction to Robotics”. http://futurehumanevolution.com/introduction-to-robotics
(accessed 4 October, 2014).
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