Robotics Cheatsheet
Overview
Robotics is the field of study dedicated to designing, building, and programming robots. Robots can be used for a variety of tasks, including manufacturing, assembly, exploration, and more.
Robot Control
Robot control is the process of commanding a robot to perform a specific task. Here are some fundamental concepts in robot control:
- Joint space: A robot’s joint space is the set of all possible joint configurations for the robot. Joint positions can be controlled to move the robot’s end effector to a desired position.
- End effector pose: A robot’s end effector pose is the position and orientation of the end effector in 3D space. End effector poses can be controlled to move the robot’s end effector to a desired position and orientation.
- Trajectory planning: Trajectory planning is the process of generating a smooth path for a robot to follow from its current position to a desired position. Trajectory planning can take into account constraints such as joint limits and collision avoidance.
- Inverse kinematics: Inverse kinematics is the process of determining the joint positions required to achieve a desired end effector pose. Inverse kinematics can be used to control a robot’s end effector position and orientation.
Robot Perception
Robot perception is the process of a robot sensing and interpreting its environment. Here are some fundamental concepts in robot perception:
- Sensors: Sensors are used to measure physical quantities such as distance, force, and temperature. Examples of sensors used in robotics include cameras, lidar, and force/torque sensors.
- Object recognition: Object recognition is the process of identifying objects in a robot’s environment. Object recognition can be used for tasks such as grasping and manipulation.
- Localization: Localization is the process of determining a robot’s position and orientation in its environment. Localization can be used for tasks such as navigation and mapping.
Robot Programming
Robot programming is the process of creating software to control a robot. Here are some fundamental concepts in robot programming:
- Programming languages: Programming languages such as Python and C++ are commonly used in robotics. These languages can be used to write software that controls a robot’s behavior.
- ROS: ROS (Robot Operating System) is a framework for building robot software. ROS provides a set of tools and libraries for developing robot applications.
- Simulation: Simulation is the process of creating a virtual environment to test robot software. Simulation can be used to test robot behavior in a variety of scenarios.
Resources