Denavit-Hartenberg Notation
In Robotics | No commentWe 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.
14 Jul
Robotics
14 Jul
Tasks and configuration space
In Robotics | No commentWe learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.
14 Jul
Analyzing a general-purpose robot arm that moves in 3D
In Robotics | No commentWe 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.
14 Jul
Analyzing a robot arm that moves in 3D
In Robotics | No commentWe consider a robot with four joints that moves its end-effector in 3D space.
14 Jul
Analyzing a 3-joint planer robot arm
In Robotics | No commentWe consider a robot with three joints that moves its end-effector on a plane.
14 Jul
Analyzing a 2-joint planer robot arm
In Robotics | No commentWe consider a robot, which has two rotary joints and an arm.
14 Jul
Analyzing a very simple 1-joint robot arm
In Robotics | No commentWe consider the simplest possible robot, which has one rotary joint and an arm.
14 Jul
Types of Robots
In Robotics | No commentWe start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
14 Jul
Introduction to Robot Manipulator Arms
In Robotics | No commentWe 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.
14 Jul
Summary of inertial sensors and navigation
In Robotics | No commentThis video gives summary of inertial sensors and navigation.
14 Jul
Derivative of a rotation matrix
In Robotics | No commentWe learn the mathematical relationship between angular velocity of a body and the time derivative of the rotation matrix describing the orientation of that body.
14 Jul
Inertial Navigation
In Robotics | No commentWe learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.
14 Jul
how Gyroscopes work
In Robotics | No commentWe learn the principles behind ‘gyros’, sensors that measure angular velocity with respect to the universe.
14 Jul
Using magnetometers
In Robotics | No commentWe learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.
14 Jul
How Magnetometers work
In Robotics | No commentWe learn the principles behind magnetometers, sensors that measure the Earth’s magnetic field.
14 Jul
Using accelerometers
In Robotics | No commentWe learn how to use information from three accelerometers to determine orientation.
14 Jul
How Accelerometers work?
In Robotics | No commentWe learn the principles behind accelerometers, sensors that measure acceleration due to motion and due to the Earth’s gravitational field.
14 Jul
Introduction to inertial sensors and navigation
In Robotics | No commentWe 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.
14 Jul
Summary of paths and Trajectories
In Robotics | No commentThis video gives summary of paths and trajectories.
14 Jul
Interpolating pose in 3D
In Robotics | No commentWe combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.