Explain what is meant by the terms “Joint Space” and World Space” in the context of robot kinematics and explain the role of the kinematic equations.
Illustrate your answer by describing how these equations would be used in the execution of the following VAL instruction:-
Joint space is definition of location/motion in terms of joint variables (θ1 - θ6), whereas world space is definition of location/motion in terms of end-effector position/orientation (x,y,z,α,β,g)
Kinematic equations enable robot to convert between joint and world space. Forward Kinematic Equations (FKE) convert from joint space to world space, Inverse Kinematic Equations (IKE) convert from world to joint.
DEPART 200 - System uses FKE to convert current joint space location to world co-ordinates. The offset of 200mm is added and then the system uses the IKE to convert the offset world location to joint values which are sent to joint controllers.