Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 34

We can use the simple example below to illustrate some of the major issues involved in the study of manipulator arms and to preview the topics covered. A typical application involving an industrial manipulator is shown in Figure 1.18. The manipulator is shown with a grinding tool that it must use to remove a certain amount of metal from a surface. Suppose we wish to move the manipulator from its home position to position A, from which point the robot is to follow the contour of the surface S to the point B, at constant velocity, while maintaining a prescribed force F normal to the surface. In so doing the robot will cut or grind the surface according to a predetermined specification. To accomplish this and even more general tasks, we must solve a number of problems. Below we give examples of these problems, all of which will be treated in more detail in the text.

Figure 1.18 Two-link planar robot example. Each chapter of the text discusses a fundamental concept applicable to the task shown.