Our goal is for the robotic arm (Fig 25.32 )o start in Position (a) and reach position (c) for Picking an object – say a red Cube. Identify 5 algorithms/methods to accomplish the needed operations to do this: Perception, Planning to Move and Moving. Describe each of them in sufficient detail (1-2 small paragraphs, diagrams to explain).

 

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(a) (d) Figure 25.32 Diagrams for Exercise 25.7. (b) (e) (c) (f) e. Figure 25.32(d) illustrates that a single planar obstacle can decompose the workspace into two disconnected regions. What is the maximum number of disconnected re- gions that can be created by inserting a planar obstacle into an obstacle-free, connected workspace, for a 2DOF robot? Give an example, and argue why no larger number of disconnected regions can be created. How about a non-planar obstacle? (a) (d) Figure 25.32 Diagrams for Exercise 25.7. (b) (e) (c) (f) e. Figure 25.32(d) illustrates that a single planar obstacle can decompose the workspace into two disconnected regions. What is the maximum number of disconnected re- gions that can be created by inserting a planar obstacle into an obstacle-free, connected workspace, for a 2DOF robot? Give an example, and argue why no larger number of disconnected regions can be created. How about a non-planar obstacle?

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Perception The first step is for the robotic arm to perceive its environment and identify the object it needs to pick up This can be done using a variety of sensors such as cameras lidar and force sen... View the full answer