Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Bras manipulateurvignette|Bras manipulateur d'un robot industriel Kuka en 2003. Un bras manipulateur est le bras d'un robot généralement programmable, avec des fonctions similaires à un bras humain. Les liens de ce manipulateur sont reliés par des axes permettant, soit de mouvement de rotation (comme dans un robot articulé) et/ou de translation (linéaire) de déplacement. Dans le cas d'une imitation complète d'un bras humain, un bras manipulateur a donc de rotation et de translation sur son élément terminal.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Kinematic diagramIn mechanical engineering, a kinematic diagram or kinematic scheme (also called a joint map or skeleton diagram) illustrates the connectivity of links and joints of a mechanism or machine rather than the dimensions or shape of the parts. Often links are presented as geometric objects, such as lines, triangles or squares, that support schematic versions of the joints of the mechanism or machine. For example, the figures show the kinematic diagrams (i) of the slider-crank that forms a piston and crank-shaft in an engine, and (ii) of the first three joints for a PUMA manipulator.
Robotique industriellevignette|droite|Un robot industriel Kawasaki FS-03N, robot de soudage La robotique industrielle est officiellement définie par l'Organisation Internationale de Normalisation (ISO) comme étant un système commandé automatiquement, multi-applicatif, reprogrammable, polyvalent, manipulateur et programmable sur trois axes ou plus. Les applications typiques incluent les robots de soudage, de peinture et d'assemblage. L'avantage de la robotique industrielle est sa rapidité d'exécution et sa précision ainsi que la répétition de cette précision dans le temps.
Bio-inspired roboticsBio-inspired robotic locomotion is a fairly new subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems, including Biomimicry. Biomimicry is copying from nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature.
Mécanisme flexibleLes mécanismes flexibles ou mécanismes compliant (de l'anglais compliant mechanism) ou liaisons à articulations élastiques, parfois également appelés guidages à articulations élastiques ou encore guidages flexibles, sont des éléments de construction, de divers degrés de complexité, qui remplissent avant tout une fonction cinématique en utilisant le principe physique de l’élasticité de la matière.
Manipulator (device)In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in diverse range of applications including welding automation, robotic surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed called cross-slides, which grasp and move objects with a number of degrees of freedom.
PréhensionLa préhension (du latin prehensio) est d'abord la faculté ou l'action de saisir des proies ou autres objets avec la main. Le terme désigne également la capacité d'un organe quelconque à saisir des objets. vignette|Le boa se sert de son corps pour saisir sa proie. vignette|Les singes se servent des mains, des pieds, mais souvent aussi de leur queue préhensile. vignette|L'humain se sert de sa main. C'est une caractéristique de l'être humain et de certains singes .
Mobile robotA mobile robot is an automatic machine that is capable of locomotion. Mobile robotics is usually considered to be a subfield of robotics and information engineering. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. Mobile robots can be "autonomous" (AMR - autonomous mobile robot) which means they are capable of navigating an uncontrolled environment without the need for physical or electro-mechanical guidance devices.
