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Understanding Robot Manipulators and Kinematics

The document discusses key terms related to manipulators and effectors. It explains how servos work using a DC motor, potentiometer, and control circuit to match desired angles from user input to feedback angles. The robot is built from 6 MG996R servos controlled by an Arduino and servo shield. Forward kinematics is described as using manipulator angles to determine the end effector's position and rotation relative to a reference point, while reverse kinematics determines the joint angles needed for a given end effector position and rotation.

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Innocent Moyo
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2 views1 page

Understanding Robot Manipulators and Kinematics

The document discusses key terms related to manipulators and effectors. It explains how servos work using a DC motor, potentiometer, and control circuit to match desired angles from user input to feedback angles. The robot is built from 6 MG996R servos controlled by an Arduino and servo shield. Forward kinematics is described as using manipulator angles to determine the end effector's position and rotation relative to a reference point, while reverse kinematics determines the joint angles needed for a given end effector position and rotation.

Uploaded by

Innocent Moyo
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

1 Terms

I. Manipulator – A device or system that effects a change.


II. End effector – The device connected to the manipulator, used to effect the change e.g
(Gripper

2 Servo
How does a servo work?
Servos are made up of a dc motor, potentiometer and a control circuit. Gears are used to reduce
the servo speed for the potentiometer. The potentiometer changes it’s resistance based on the
position of the motor. A control circuit receives a desired angle from the user and feedback
from the potentiometer. The circuit then turns on the motor when the feedback angle and
desired angle don’t match. The motor is turned off when they match.
To control the servo, a pulse width modulation (PWM) signal is used.

3 Robot Build
The robot is made up of 6 MG996R servos. An Arduino and a servo shield, are used to control
the servos.

4 Forward Kinematics
Forward kinematics is a method of getting the position of a manipulator, based on its angles.
The goal with forward kinematics, is to get the position and rotation of the end effector in
reference to a certain position. The reference rotation is commonly labelled as
𝑅 0 and the end effector rotation, as 𝑅 𝑁

5 Reverse kinematics
Inverse kinematics are methods of getting the angles of all the joints when given the end
effector position and rotation. There are multiple ways of getting these angles
[Link]

Look for spiral cable wrapping

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