The multi-joint robot resembles a human arm and is characterized as being as flexible as a human hand. For example, when encountering an obstacle, a multi-joint robot can bypass the obstacle to achieve the goal, so it is difficult to achieve a general pole seat or cylindrical coordinate industrial robot. For example, when it is necessary to complete some special motion (crank motion), the multi-joint robot is also easier to complete. Multi-joint robots can also move from point to point in less time, like hands. If a multi-joint robot is fitted with a touch and force sensor on its hand and wrist, it can do more and more complex work.
In order to realize the flexibility of multi joint robot, it is necessary to solve two major problems: control and structure.
control
When a joint in a multi joint robot arm rotates an angle, other joints and their connecting rods will move in space. As a result, the claws reach a new position and their orientation (posture) changes. Therefore, multi joint robots usually need to be controlled by computers.
The angle detector is installed on each joint of the robot. Given the rotation angle of the joint, the problem of obtaining the spatial position and posture of the paw is called the analysis problem of motion control. On the contrary, given the position and posture of the paw, the problem of how many angles each joint link should rotate is called the comprehensive problem of motion. The key to these problems is how to use computers to perform the above transformations and calculations.
structure
The structure of multi joint robot needs driving parts, the sensing parts are small and light, and the arm structure is compact.
