Task Space and the Workspace for Robots | Fundamentals of Robotics

Task Space and the Workspace for Robots | Fundamentals of Robotics | Lesson 5

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Mecharithm - Robotics and Mechatronics

Күн бұрын

[UPDATE] @9:18 There's a typo and it should be changed to "A point in the task space or WORKSPACE can be achievable by multiple robot configurations." Thanks to Mohammad Itani for catching this.
🌟 Contents 🌟
💎 (00:00) Introduction
💎 (01:01) Definition of the Task Space of a Robot
💎 (01:21) Task Space for the Task of a Marker's Tip Position Control on a Board
💎 (01:36) Definition of the Workspace of a Robot
💎 (01:50) The Workspace of a Planar 2R Robot Arm with Different Link Lengths and No Limits on the Joint Angles
💎 (03:16) The Workspace of a Planar 2R Robot Arm with the same Link Lengths and No Limits on the Joint Angles
💎 (03:40) The Workspace of a Planar 2R Robot with Constraints on Joint Angles
💎 (04:20) The C-space, Workspace, and Task Space for a 3R Spherical Robot Wrist
💎 (06:34) The C-space, Workspace, and Task Space for the SCARA Robot
💎 (07:46) The Dexterous Workspace vs. the Reachable Workspace
💎 (08:46) Important Notes about the Task space and the Workspace
💎 (09:39) Workspaces and C-spaces of a Planar 2R Open-chain Robot vs. a Planar 4R Open-chain Robot
💎 (10:10) Workspaces and C-spaces of a 2R Planar Open-chain Robot vs. a Spherical 2R Open-chain Robot
In this video, you will learn about the task space and workspace for robots and understand their difference with the robot's C-space.
This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
www.mecharithm.com/task-space...
Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.
Thanks for watching! Ready to be a part of the Mecharithm family?👇
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References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
📹 Videos:
- High Speed SCARA Robot for Pick & Place - FANUC’s New SR-3iA SCARA Robot Displays Speed & Precision:
• High Speed SCARA Robot...
💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video).
©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source.
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Пікірлер: 18

@bitakhorasani1156 3 жыл бұрын

That was the best way to learn about the C-spaces! I finally understood how it works!

@mecharithm-robotics 3 жыл бұрын

Thank you for your feedback!

@RBERAHMA 3 жыл бұрын

It's the best method of teaching robotics theory.

@mecharithm-robotics 3 жыл бұрын

Thank you!

@mohammaditani4558 2 жыл бұрын

Great video! Thanks for the video and for adding the Matlab code. @9:18 I think there's a mistake it should be: A point in the task space or WORKSPACE can be achievable by multiple robot configurations.

@mecharithm-robotics 2 жыл бұрын

Yes, that's a typo! Thanks for bringing that to our attention! We appreciate your feedbacks! We'll update the post on the website and add a note under the video!

@neoblackcyptron 2 жыл бұрын

Good video. Clarified many doubts.

@mecharithm-robotics 2 жыл бұрын

glad to hear that!

@henryherbertfinch9949 3 жыл бұрын

Brilliant videos ! Have just started my MSc in Mechatronics and AI . I would greatly appreciate if I can access more resources.

@mecharithm-robotics 3 жыл бұрын

Henry, thanks for your feedback. We are working on Fundamentals of Mechatronics along with robotics. Stay tuned!

@AbdulRahman-jz3px Жыл бұрын

Thank you for explaining well. I want to ask, is there a special equation that is used to calculate the workspace of the Robot arm in the x,y,z axis in 3 dimensions? I plan to create a workspace as described earlier for the 3R articulated manipulator robot.

@mecharithm-robotics Жыл бұрын

you can use RoboDK software to get a visualization of the workspace. For a manipulator, the workspace is the set of values for which the inverse kinematics solution exists.

@singhrobotics 2 жыл бұрын

Are there CAD tools with which we can identify robot workspaces? Meaning, i have robot links, their joints and their rotation axis designed in the CAD tool. I want to identify their workspaces.

@mecharithm-robotics 2 жыл бұрын

If you mean getting the reachable workspace, then in solid works you can simulate the motion of the end effector and trace the area it covers. If it needs to be accurate, easier to do in Matlab but you could get a rough estimate in CAD.