Search Results for: 2 joint

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 most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.

So far we have worked out the torques on a robot’s joints based on joint position, velocity and acceleration. For simulation we want the opposite, to know its motion given the torques applied to the joints. This is called the forward dynamics problem.

We will learn about the forces that are exerted on a robot’s joint by gravity acting on links, friction, and the coupling forces where the motion of one joint imparts a force on other joints.

For a redundant robot the inverse kinematics can be easily solved using a numerical approach.

We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.

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.

We recap the important points from this masterclass.

We summarise the important points from this masterclass.

We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.