Velocity of 2-Joint Planar Robot Arm
In Robotics | No commentFor a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
14 Jul
Robotics
14 Jul
Rate of Change of Pose in 2D
In Robotics | No commentWe introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.
14 Jul
Introduction to Velocity kinematics in 2D
In Robotics | No commentWe will learn about the relationship, in 2D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions.
14 Jul
Summary of Inverse Kinematics
In Robotics | No commentThis video gives summary of inverse kinematics.
14 Jul
Cartesian interpolated Motion
In Robotics | No commentAn alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.
14 Jul
Joint Interpolated Motion
In Robotics | No commentTo move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.
14 Jul
Redundant Robots
In Robotics | No commentFor a redundant robot the inverse kinematics can be easily solved using a numerical approach.
14 Jul
Reachability and Singularity
In Robotics | No commentFor real robots there are a few extra things to think about. Is a particular point actually reachable? Our old friend, singularity or gimbal lock reappears in the wrist.
14 Jul
Numerical Inverse Kinematics
In Robotics | No commentLet’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations.
14 Jul
Different Approach to Solving Inverse Kinematics
In Robotics | No commentTo simplify the inverse kinematics most robots have a spherical wrist, a particular mechanical wrist design. For robots where the inverse kinematics is too hard to figure out we can solve the problem numerically, treating it as an optimisation problem.
14 Jul
Robot Arm Configuration Change
In Robotics | No commentA characteristic of inverse kinematics is that there is often more than one solution, that is, more than one set of joint angles gives exactly the same end-effector pose.
14 Jul
Inverse Kinematics for a General Purpose Robot Arm that moves in a 3D
In Robotics | No commentFor real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.
14 Jul
Inverse Tanget Function
In Robotics | No commentA really important function when performing inverse kinematics is the inverse tangent or arctan function. We revise how this function works for angles in all quadrants of the circle and introduce a useful variant known as atan2.
14 Jul
Inverse Kinematics for 2-Joint Robot Arm using Algebra
In Robotics | No commentWe repeat the process of the last section but this time consider it as an algebraic problem.
14 Jul
Inverse Kinematics for 2-Joint Robot Arm using Geometry
In Robotics | No commentWe revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
14 Jul
Introduction to Inverse Kinematics
In Robotics | No commentWe will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
14 Jul
Summary of Robot Manipulator Arms
In Robotics | No commentThis video gives summary of Robot Manipulator Arms.
14 Jul
What is Kinematics?
In Robotics | No commentThis lecture has been about kinematics and we define that term.
14 Jul
Robot Workspace
In Robotics | No commentThe 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.
14 Jul
Base and Tool transforms
In Robotics | No commentThe 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?