Introduction to Robot Kinematics
- What are the basic parts of a robot manipulator: links, joints, end effector and workspace? In one line A robot manipulator is a chain of rigid links connected by joints, starting at a fixed base and ending at an end effector that d... 1
- What is degree of freedom of a robot and how is it counted for a serial manipulator? In one line Degree of freedom (DOF) is the number of independent variables needed to fully describe a robot's configuration; for a serial ro... 1
- What is forward kinematics of a robot and how do you find the end-effector position of a 2-link planar arm? In one line Forward kinematics finds the end-effector's position and orientation from known joint variables; for a 2R planar arm it is simpl... 1
- What is a homogeneous transformation matrix and how does it combine rotation and translation? In one line A homogeneous transformation matrix is a 4×4 matrix that rotates and translates a point (or frame) in one multiplication, so suc... 1
- What are Denavit-Hartenberg (D-H) parameters and how are frames assigned to robot links? In one line D-H parameters are four numbers per link ( θ, d, a, α ) that describe how each joint frame is placed relative to the previous on... 1
- How do you find the forward kinematics of a 2-DOF serial robot using D-H homogeneous transformations? In one line Write the D-H table, form each link's transformation matrix, and multiply them; the last column of the result gives the end-effe... 1
- A planar elbow manipulator is shown. Write the D H parameters and hence locate the position and orientation of the end E of the manipulator. Given \(L_1 = L_2 = 250\) mm and \(\theta_1 = \theta_2 = 30^\circ\).[Figure: base frame \(X_0, Y_0\) at O. Li… DH parameter table (both joints revolute, all joint axes parallel to Z, so d_i = 0 , α_i = 0 ): Link i θ_i d_i a_i α_i 1 θ₁ = 30^° 0 L₁ = 25... 1
- A simple 2 DOF planar robot is shown. Prepare a D H parameter table and perform forward kinematics to find the location and orientation of end effector B.[Figure: base joint O on a fixed support. Link OA, 3 m long, makes 110° measured anticlockwise f… Joint angles: θ₁ = 110^° ; θ₂ = -65^° (measured clockwise from the extension of link 1). Link 2 absolute angle = θ₁ + θ₂ = 45^° . Link i θ_i... 1