Robotics
Chapter 25
Chapter 25 1
Outline
Robots, Effectors, and Sensors
Localization and Mapping
Motion Planning
Motor Control
Chapter 25 2
Mobile Robots
Chapter 25 3
Manipulators
R
R
R
P
R
R
Configuration of robot specified by 6 numbers
⇒ 6 degrees of freedom (DOF)
6 is the minimum number required to position end-effector arbitrarily.
For dynamical systems, add velocity for each DOF.
Chapter 25 4
Non-holonomic robots
θ
(x, y)
A car has more DOF (3) than controls (2), so is non-holonomic;
cannot generally transition between two infinitesimally close configurations
Chapter 25 5