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Robot Workspace

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.  

Base and Tool transforms

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?  

Denavit-Hartenberg Notation

We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.  

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.  

Inertial Navigation

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.  

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