Task Space and Workspace for Robots

Task Space and Workspace for Robots

In this post, you will learn about the task space and workspace for robots and understand their difference with the robot's C-space. You can find a comprehensive post about the C-space of the robot HERE. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. We saw before that the robot's C-space is the space of all possible configurations of a robot. But what does task space and workspace mean for robots? If you want to learn about task space and workspace,…
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Holonomic vs. Nonholonomic Constraints for Robots

Holonomic vs. Nonholonomic Constraints for Robots

In this post, you will learn that holonomic or configuration constraints reduce the degrees of freedom (dofs) of a robot, whereas nonholonomic constraints reduce the space of possible velocities. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. Holonomic (Configuration) Constraints for Robots Let’s see this with an example. Remember our famous 4-bar linkage with one degree of freedom? If you do not, please refer to this lesson. For now, consider a 4-bar linkage that has 4 links (ground is a…
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Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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