Velocity of 6-Joint Robot Arm – Rotation
lesson
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
lesson
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
lesson
We consider a robot with three joints that moves its end-effector on a plane.
lesson
We consider the simplest possible robot, which has one rotary joint and an arm.
lesson
We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
lesson
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.
lesson
We will learn about how we make the the robot joints move to the angles or positions that are required in order to achieve the desired end-effector motion. This is the job of the robot’s joint controller and in this lecture we will learn how this works. This journey will take us in to the […]
lesson
We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.
lesson
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.
lesson
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.
lesson
Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.