 ## Types of Robots

We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.

## Introduction to Robot Manipulator Arms

We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

## Summary of inertial sensors and navigation

This video gives summary of inertial sensors and navigation.

## Derivative of a rotation matrix

We learn the mathematical relationship between angular velocity of a body and the time derivative of the rotation matrix describing the orientation of that body.

We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.

## how Gyroscopes work

We learn the principles behind ‘gyros’, sensors that measure angular velocity with respect to the universe.

## Using magnetometers

We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.

## How Magnetometers work

We learn the principles behind magnetometers, sensors that measure the Earth’s magnetic field.

## Using accelerometers

We learn how to use information from three accelerometers to determine orientation.

## How Accelerometers work?

We learn the principles behind accelerometers, sensors that measure acceleration due to motion and due to the Earth’s gravitational field.

## Introduction to inertial sensors and navigation

We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.

## Summary of paths and Trajectories

This video gives summary of paths and trajectories.

## Interpolating pose in 3D

We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.

## Interpolating rotation in 3D

We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions.

## Multi-dimensional trajectory

We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

## 1D trajectory with via points

Frequently we want a trajectory that moves smoothly through a series of points without stopping.

## 1D polynomial trajectory

The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.

## Paths and Trajectories

Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.

## Introduction to Paths and Trajectories

We will learn how to create coordinate frames that have smoothly changing position and orientation over time.

## Summary of 3D geometry and pose

This video gives summary of 3D geometry and pose.