Introduction to Robotics
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3 robotics mistakes that cost marks
3 mistakes that cost marks in Intro to Robotics
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Lesson notes
Key points
- Calling sensors actuators: Actuators create motion, like motors; sensors measure it, so never swap the two terms.
- Assuming IK has one answer: Inverse kinematics can have several solutions or none, like elbow-up and elbow-down configurations.
- Using stepper as servo: A stepper usually runs open loop; a servo uses feedback, so name the difference precisely.
Takeaway: Actuators move, sensors measure, and IK can have many answers.
Quick check: How many inverse kinematics solutions can a 2-link planar arm have for a reachable point?
- Always exactly one
- Up to two
- Always infinite
Elbow-up and elbow-down give two solutions for most reachable points.
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