We introduce the topic of robotics, the recent history, why we need robots and the future of robots.
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We consider the simplest possible robot, which has one rotary joint and an arm.
Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.
In this mini-documentary we look at a diverse range of real-world robots, discuss what they do and how they do it.
For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
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 a robot with four joints that moves its end-effector in 3D space.
We consider a robot, which has two rotary joints and an arm.
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.
Let’s recap what robots are, where they’ve come from and what they can do. Robots use sensors to understand their world and plan an action to achieve their goal.