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Introduction to Robot Manipulator Arms

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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.

Summary of Robot Manipulator Arms

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We summarise the important points from this masterclass.

Numerical Inverse Kinematics

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Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

Proudly supported by:

  • Queensland University of Technology
  • Australian Centre for Robotic Vision
  • IEEE Robotics and Automation Society
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