Robotic arm programming job ghostwriting, ghostwriting arm movement
question A Control
of robotic arm movements The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It is used in industrial manufacturing, medical treatment, entertainment services, military, semiconductors It can be seen in fields such as manufacturing and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and accurately locate a certain point in the three-dimensional (or two-dimensional) space for operation.
Figure 1 is a plane manipulator with 3 degrees of freedom produced by a factory. The robotic arm is installed on the base, and the position of the base is fixed. Points A~I are rotatable bearings, AC, DF, GH are two hydraulic telescopic rods, whose length can be precisely controlled by a computer, and the shape of the entire robotic arm is completely determined by the lengths of these three hydraulic telescopic rods. Since each hydraulic rod has only two sections, without considering other factors, its length variation ranges are 100cm≤AC≤180cm, 96cm≤BF≤172cm, 75cm≤GH≤130cm.
Fig. 1 Robot arm
AB, BC, BD, BE, DE, EF, EG, EI, FG, GI, HI represent the distance between each bearing, which is fixed and can be obtained by measurement. Table 1 gives the distances between the bearings. CD=120, CE=318.
Table 1 The distance between the bearings in the robot arm (unit: cm)
AB BC BD BE DE EF EG EI FG GI HI
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The end of the robotic arm is a gripper in the shape of a bar, always perpendicular to the HI, and the distance between the end and the HI is 100cm. When working, it is necessary to precisely control the position and tilt angle of the gripper. The position (x, y) and the tilt angle θ determine the state of the gripper, which is recorded as (x, y, θ). Now you need to solve the following problems:
Problem 1: Due to the limitation of the mechanical arm, the actual telescopic lengths of the three hydraulic telescopic rods AC, DF and GH cannot reach the unrestricted range. Please give the three hydraulic telescopic rods. Actual variation range of rod AC, DF and GH lengths.
Problem 2: Find the relationship between the state of the gripper (x, y, θ) and AC, DF and GH.
Question 3: Please give the area that the end of the gripper can reach, and draw its figure.
Question 4: Assuming that the maximum telescopic speed of the 3 hydraulic telescopic rods is the same and can be telescopic at the same time, if the gripper is to change from the state (x, y, θ) to (x', y', θ'), What is the fastest scaling solution? Give an example and draw the path the end of the gripper travels.
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