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.
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We summarise the important points from this masterclass.
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.
We consider a robot, which has two rotary joints and an arm.
We consider the simplest possible robot, which has one rotary joint and an arm.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.
We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.
For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
A 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.