Compliant motion control of robots can be understood by the problem of

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Module 6: Manipulator Dynamics

20242m

Compliant motion control of robots can be understood by the problem of controlling of:
(i) position and velocity of joints
(ii) position and acceleration of the end effector
(iii) manipulator motion and its force interactions with the environment
(iv) joint velocities of given end-effector velocity

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PreviousAssume that the joint mechanisms at serial link manipulators are frictionless. The joint torque T required to bear an arbitrary endpoint force F is: (i) J^TF (ii) JF (iii) JFT (iv) JPFT NextConsider the following statements with reference to SCARA robot. I. It has four degrees of freedom II. It has only one forward kinematic solution III. It has two inverse kinematic solutions, Which of the above statements are correct? (i) I and II only (ii) I and III only (iii) II and III only (iv) I, II, and III

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