 ## 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.

We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.

## Analyzing a general-purpose robot arm that moves in 3D

We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.

## Analyzing a robot arm that moves in 3D

We consider a robot with four joints that moves its end-effector in 3D space.

## Analyzing a 3-joint planer robot arm

We consider a robot with three joints that moves its end-effector on a plane.

## Analyzing a 2-joint planer robot arm

We consider a robot, which has two rotary joints and an arm.

## Analyzing a very simple 1-joint robot arm

We consider the simplest possible robot, which has one rotary joint and an arm.

## 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.