Questions tagged [joint]

The point of contact between elements of a robot with the parts that surround and support it

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20
votes
3answers
13k views

How can the inverse kinematics problem be solved?

The forward kinematics of a robot arm can be solved easily. We can represent each joint using Denavit–Hartenberg transformation matrices. For example, if the $i^{th}$ joint is a linear actuator, it ...
9
votes
2answers
474 views

Adding an Actuator or Force to a (Featherstone) Articulated Rigid Body Model

I'm working on a project where I need to model a system that is essentially comprised of a series of ball-and-socket joints attached to a base, which is attached in turn to a prismatic joint (rail). ...
9
votes
1answer
4k views

Building Robotic arm joint

I am very new to robotic design and I need to determine what parts I will need to assemble an arm joint. The joint will contain one timing belt pulley which a remote motor will be turning, a forearm ...
3
votes
1answer
695 views

What do we call a coupling with infinite range of rotation

In most situations, range of motion is limited by the fact that we need to carry power or information past a joint. So, past a certain point there are either cables in the way, or the cables would ...
2
votes
1answer
707 views

How can I attach an arm to a double-flat drive stepper motor?

This is my first robotics experience, outside of one class 10 years ago. I've been Googling this question for about an hour but I can't find an answer! I'm using a ROHS Step Motor 28BYJ-48 (with an ...
0
votes
0answers
38 views

Joint space trajectory script unclear

I have a script provided by The MathWorks Inc. that makes a robot end-effector follow both a task space and a joint space trajectory through several waypoints. These trajectories are then plotted in ...