Abstract
The control structure of a robot needs to know the position of each joint in order to calculate the position of the end effector (e.g. gripper) thus enabling the successful completion of the programmed task. The movements of the joints can be angular and/or linear depending on the type of robot; they are illustrated in Figure 2.1 for each of the four main robot coordinate systems. A suitable algorithm for calculating the end effector position in any of the coordinate systems can then easily be deduced, as shown in Figure 2.2 for the polar coordinates type robot, thus permitting the development of the necessary robot control software.
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Further reading material
Bannister, B. R. and Whitehead, D. G. (1986) Transducers and Interfacing, Wokingham, Van Nostrand Reinhold (UK).
Polet, T. W. (1985) Industrial Robots: Design, Operation and Application, Glentop Publishers.
Seippel, R. G. (1983) Transducers, Sensors and Detectors, Reston Publishing Co.
Snyder, W. E. (1985) Industrial Robots: Computer Interfacing and Control, Englewood Cliffs, Prentice-Hall.
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© 1987 S. R. Ruocco
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Ruocco, S.R. (1987). Position transducers. In: Robot sensors and transducers. Open University Press Robotics Series. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-6870-0_2
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DOI: https://doi.org/10.1007/978-94-011-6870-0_2
Publisher Name: Springer, Dordrecht
Print ISBN: 978-0-335-15408-1
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