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Unit iv robot programming
This document discusses robot kinematics and programming. It covers topics like forward and inverse kinematics for robots with 2-4 degrees of freedom, Jacobians, velocity and forces, trajectory generation, and manipulator mechanism design. It also discusses robot programming languages like VAL and how to write programs using motion commands, sensor commands, and end effector commands.
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Unit iv robot programming
- 1. UNIT IV ROBOT KINEMATICSANDROBOT PROGRAMMING Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages- VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs.
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