Introduction to Robotics
This or that
Robotics pairs you keep mixing up
Do you know the difference, or do you just think you do?
Quick check · tap an answer to continue
Lesson notes
Key points
- Forward / Inverse kinematics: Forward finds end-effector pose from joint angles; inverse finds joint angles for a target pose.
- Open / Closed loop control: Closed loop uses sensor feedback to correct error; open loop just sends commands blindly.
- Accuracy / Repeatability: Accuracy is hitting the commanded point; repeatability is returning to the same point every time.
- Workspace / Work envelope: Trick pair: both mean the region the end-effector can reach; dexterous workspace is the subset.
Takeaway: Forward: angles to pose. Inverse: pose to angles.
Quick check: A sensor that measures the robot's own joint angles is called what?
- Exteroceptive
- Proprioceptive
- Tactile
Proprioceptive sensors measure internal state; exteroceptive sense the environment.
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