Verifying the Motion of a Robot Arm Akul Penugonda 1 /6 Akul - PowerPoint PPT Presentation

Jan 02, 2024 •177 likes •247 views

Akul Penugonda - Robot Arm Motion Verifying the Motion of a Robot Arm Akul Penugonda 1 /6 Akul Penugonda - Robot Arm Motion 2 /6 Akul Penugonda - Robot Arm Motion Why bother? 3 /6 Akul Penugonda - Robot Arm Motion Safety and Assumptions

Akul Penugonda - Robot Arm Motion Verifying the Motion of a Robot Arm Akul Penugonda 1 /6
Akul Penugonda - Robot Arm Motion 2 /6
Akul Penugonda - Robot Arm Motion Why bother? 3 /6
Akul Penugonda - Robot Arm Motion Safety and Assumptions • No collisions initially • Cannot collide with object during motion 4 /6
Akul Penugonda - Robot Arm Motion One-link prismatic arm • 1-dimensional • Collision is simple   1-d check • 2-dimensional • More complicated   collisions 5 /6
Akul Penugonda - Robot Arm Motion Planar 2d rotating arm • Same collision checking • Harder velocity choice 6 /6

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