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

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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

SLIDE 1

Verifying the Motion of a Robot Arm

Akul Penugonda

/6 1

Akul Penugonda - Robot Arm Motion

SLIDE 2

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Akul Penugonda - Robot Arm Motion

SLIDE 3

Why bother?

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Akul Penugonda - Robot Arm Motion

SLIDE 4

Safety and Assumptions

No collisions initially
Cannot collide with object during motion

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Akul Penugonda - Robot Arm Motion

SLIDE 5

One-link prismatic arm

1-dimensional
Collision is simple

1-d check

2-dimensional
More complicated

collisions

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Akul Penugonda - Robot Arm Motion

SLIDE 6

Planar 2d rotating arm

Same collision checking
Harder velocity choice

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