Let say we want this robot arm to pick up object at certain position, that position is then defined by value of each x, y, z axis (the unit of axis value are same as distance unit, e.g. In this case the robot arm is 4 DOF and the tip (end effector) is gripper module, so by modeling the position of this gripper on environment now we can have a method to determined where it moves in order to do a job we want. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment.īy understanding definition of End Effector from previous paragraph now lets model the robot arm end effector position as cartesian coordinate system, because robot work in 3 dimensional space then its cartesian coordinate axis consist of x axis, y axis, and z axis.
At this endpoint, the tools are attached. The end effector means the last link (or end) of the robot. In robotics nomenclature "end effector" is the device at the end of a robotic arm. Then what the correlation of this mechanics subfield study to programming robot? programming a robot which mean we give a 'set of instruction' where it moves on the environment, with any kind of tools and variety of job, but still, the principle is basically constructing the movement trajectory of a robot, then later we can come up for the programming. Kinematic is a subfield in classical mechanics that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. To build robotic system (at least like this project) it is not only programming and electrical field, but also required mechanical understating. In this project i build a 4 DoF robotic arm to do object sorting based on color.
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