Robot control is the theory of how to model and control robots. A humanoid robot playing the trumpet In practical usage, a robot is a mechanical device which performs automated tasks, either according to direct human supervision, a pre-defined program or, a set of general guidelines, using artificial intelligence techniques. ...
A simplistic model of a robot is to look at as a collection of links connected by joints. The tip of the robot is commonly referred to as the tool center point or TCP. As the joints rotate and the links contract and expand, the TCP will change position.
It is of great importance to know the position of the TCP in world coordinates. For example, for a robot to weld in a straight line, the actuators in the joints of the robot have to be controlled in complex manner.
Denavit-Hartenberg convention
To facilitate calculations, engineers use the Denavit-Hartenberg convention to help them describe the positions of links and joints unambiguously. Every link gets its own coordinate system. There are a few rules to consider in choosing the coordinate system: See Cartesian coordinate system or Coordinates (elementary mathematics) for a more elementary introduction to this topic. ...
the z-axis is in the direction of the joint axis
the x-axis is parallel to the common normal or if there is no common normal,
the y-axis follows from the x- and z-axis by choosing it to be a right handed coordinate system.
Every link/joint pair can be described as a coordinate transformation from the previous coordinate system to the next coordinate system. See Cartesian coordinate system or Coordinates (elementary mathematics) for a more elementary introduction to this topic. ...
The Rot(axis, angle) and Trans(axis, distance) are a shorthand for the transformation matrices.
A robotcontrol apparatus according to claim 1, wherein the computation period of the inertia term performed by said arithmetic means is controlled to be a fixed period longer than the drive torque computation period.
A robotcontrol apparatus according to claim 1, wherein the computation period of the inertia term performed by said arithmetic means is controlled to be a variable period dependent upon the operating velocity of the robot arm.
In the robot operation for gripping a workpiece, the robotcontrol apparatus checks the control program of the robot and on the basis of this is capable of discriminating the type of workpiece about to be gripped or the type of workpiece being gripped.
Robots may be controlled directly by a human, such as remotely-controlled bomb-disposal robots, robotic arms, or shuttles, or may act according to their own decision making ability, provided by artificial intelligence.
Robots are being used in performing highly delicate, accurate surgery, or to allow a surgeon who is located remotely from their patient to perform a procedure using a robotcontrolled remotely.
Robot has come to mean mechanical humans, while android is used for organic artificial humans and cyborg or "bionic man" for a human form that is a mixture of organic and mechanical parts.
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