Manipulators ROBOTICS CHAPTER 25 C( umbers 6is the minimum number required to position end-effector arbitrarily. For dynamical systems,add velocity for each DOF. Outline Non-holonomic robots Robots,Effectors,and Sensors Localization and Mapping Motion Planning Motor Control annot generally transitio Mobile Robots Sensors nts wheels).inertials force sensors,torque sensorsRobotics Chapter 25 Chapter 25 1 Outline Robots, Effectors, and Sensors Localization and Mapping Motion Planning Motor Control Chapter 25 2 Mobile Robots Chapter 25 3 Manipulators R R R P R R Configuration of robot specified by 6 numbers ⇒ 6 degrees of freedom (DOF) 6 is the minimum number required to position end-effector arbitrarily. For dynamical systems, add velocity for each DOF. Chapter 25 4 Non-holonomic robots θ (x, y) A car has more DOF (3) than controls (2), so is non-holonomic; cannot generally transition between two infinitesimally close configurations Chapter 25 5 Sensors Range finders: sonar (land, underwater), laser range finder, radar (aircraft), tactile sensors, GPS Imaging sensors: cameras (visual, infrared) Proprioceptive sensors: shaft decoders (joints, wheels), inertial sensors, force sensors, torque sensors Chapter 25 6