We consider the simplest possible robot, which has one rotary joint and an arm.
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We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.
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 will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.
As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.
We extend the idea of relative pose, introduced in the last lecture, to 3D. We learn another right-hand rule that indicates the direction of rotation about an axis, and we see how we can attach 3D coordinate frames to objects to determine their pose in 3D space.
We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.
We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.