an introduction to robot

An Introduction to Robotics
Definition of robot
robot An electromechanical device with multiple degrees-of-freedom (dof) that is programmable to accomplish a variety of tasks.
robotics The science of robots. Humans working in this area are called roboticists. dof degrees-of-freedom, the number of independent motions a device can make. Also called mobility.
manipulator Electromechanical device capable of interacting with its environment. anthropomorphic Designed or appearing like human beings. end-effector The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks. workspace The volume in space that a robot’s end-effector can reach, both in position and orientation.
position The translational (straight-line) location of an object. orientation The rotational (angular) location of an object. An airplane’s orientation is measured by roll, pitch, and yaw angles. pose position and orientation taken together. link A rigid piece of material connecting joints in a robot. joint The device which allows relative motion between two links in a robot.
kinematics The study of motion without regard to forces/torques.
dynamics The study of motion with regard to forces/torques.
actuator Provides force/torque for robot motion. Example : motor, pneumatic, etc
sensor Reads actual variables in robot motion for use in control.
Applications
Traditionally, robots are applied anywhere one of the 3Ds exist: in any job which is too: Dirty, Dangerous, and/or Dull for a human to perform.