What Are the Different Types of Robotics Jobs?

Robot space refers to the set of space points that can be reached by the reference point of the robot's end effector motion description, and is generally represented by the projection of the water level and the vertical plane. ^[1]

The shape of the workspace varies depending on the form of the robot's motion coordinates.

There are three types of robot workspaces:

Reachable workspace, that is, the set of reachable position points at the end of the robot;

Smart workspace (dextrous workspace), that is, the set of reachable points at the end of the robot when the given position range is satisfied;

9lobal workspace, which is the set of reachable points at the end of the robot given all poses. ^[4]

(1) Geometric drawing method. The geometric drawing method often obtains various sections or sections of the working space. This method is intuitive and strong, but it is also limited by the number of degrees of freedom; when the number of joints is large, it must be processed in groups; the robot hand cannot be accurately described in 3D space.

(2) Analytical method. Although the analytical method can analyze the boundary of the working space, the expressions are too complicated due to the Jacobian matrix of the robotic kinematics which is generally used for rank reduction, and the computer graphics content involving complex space surface intersections and cuts is difficult to apply. For engineering design.

(3) Numerical methods. The numerical method is based on extreme value theory and optimization methods. First, the feature points on the boundary surface of the robot's workspace are calculated. The lines formed by these points represent the boundary curve of the robot, and then the surfaces formed by these boundary curves represent the boundary surface of the robot. This method is simple in theory, strong in operability, and suitable for programming, but the accuracy of the space obtained has a lot to do with the number of points taken, and too many points will be affected by the speed of the computer. ^[5]