As an amateur roboticist/professional dilettante I've often been tempted to consider a robot as little more than a 'Normal Line in R3' (essentially an end effector's pitch/roll/yaw at x/y/z in effector state i from 1...n) and motion planning as little more than crow flying with zero consideration for 2nd or 3rd order effects.
While this may be true for simple industrial applications with robot arms of infinite structural rigidity... I have learned two things from this post:
[1] Physical qualities of the robot arm (beyond range of freedom) can materially affect path planning
[2] Sometimes there is more to a robot than an end effector doing work (e.g. rapping robot's funky dance moves). Raises the question though... does the entire robot arm effectively become an end-effector? Can we consider delighting an audience with cool dance moves 'work' being performed?
Thanks for sharing, and hats off to the Disney team! Great work!
As an amateur roboticist/professional dilettante I've often been tempted to consider a robot as little more than a 'Normal Line in R3' (essentially an end effector's pitch/roll/yaw at x/y/z in effector state i from 1...n) and motion planning as little more than crow flying with zero consideration for 2nd or 3rd order effects.
While this may be true for simple industrial applications with robot arms of infinite structural rigidity... I have learned two things from this post:
[1] Physical qualities of the robot arm (beyond range of freedom) can materially affect path planning
[2] Sometimes there is more to a robot than an end effector doing work (e.g. rapping robot's funky dance moves). Raises the question though... does the entire robot arm effectively become an end-effector? Can we consider delighting an audience with cool dance moves 'work' being performed?
Thanks for sharing, and hats off to the Disney team! Great work!