![]() Mathematical and computational representations of geometry have longīeen studied, and a rich set of techniques are in active use today. Shape of a robot dictates how well it can squeeze into tight locations,Īnd how much of the surrounding workspace it can reach without Geometry is also important in robot design, since the Unintentional collision with the environment, and should make contact Certainly, it would be wise to consider these geometries whenĭeveloping motions and choosing postures, since a robot should avoid Those frames, such as the shape and size of the physical structure ofĮach link. Reference frames, but have not yet considered the geometric content of ![]() ![]() So far we have described methods for reasoning about a robot's spatial
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