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.
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We summarise the important points from this masterclass.
If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.
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 introduce the topic of robotics, the recent history, why we need robots and the future of robots.
The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.
We will learn how to create coordinate frames that have smoothly changing position and orientation over time.
The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.
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.