In a serial-link manipulator arm each joint has to support all the links between itself and the end of the robot. We introduce the recursive Newton-Euler algorithm which allows us to compute the joint torques given the robot joint positions, velocities and accelerations and the link inertial parameters.
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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 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.
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 start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
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.
We consider a robot, which has two rotary joints and an arm.
We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.