Search Results for: link frame

This is an exercise in which you can build a 3D coordinate frame by printing, cutting, folding and stapling.

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 consider the simplest possible robot, which has one rotary joint and an arm.

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 learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

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.

We recap the important points from this masterclass.

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.

We discuss the structure of a right-handed 3D coordinate frame and the spatial relationship between its axes which is encoded in the right-hand rule.