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| == Information ==
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| Purpose: Learning basic knowledge of robotics
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| Lecture: CS223A, Stanford University
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| Date: Jan 21, 2019 ~
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| * Prerequite
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| * Linear Algebra
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| * Numerical Analysis
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| == Reference ==
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| Material: Copy from Stanford
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| Video clips: https://www.youtube.com/watch?v=0yD3uBshJB0&list=PL65CC0384A1798ADF
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| == Study List ==
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| === Lecture 1: Spatial Description ===
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| General Manipulator: Robot Arm, using Revolute joint, Prismatic joint
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| * Robot Arm: base, link, joint, end-effector
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| * Revolute joint: Rotation movement, 1 Degree of Fredom(DoF)
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| * Prismatic joint: Linear movement, 1 DoF
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| * Denote joint type using ε(0 for revolute, 1for prismatic)
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| Discription of body1 (9 parameters)
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| * Link location: 3 points (Each point has 3 parameters)
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| Discription of body2 (6 parameters)
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| * Body orientation: 3 parameter
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| * Point on the body: 3 parameter
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| => Robot arm(n:links, 1: base) has n DoF
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| Transformation
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| * Pure Rotation
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| * Pure Translation
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| * General Tasformation
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| * Inverse Transformation
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| Configuration Representation
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| There is no universial agreement in the field of robotics as to what is the best orientation representation.
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| Because each representation hase advantages and shortcomings
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| * Direction Cosines:
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| * Euler angle representation: ZYX, angle(α, β, γ)
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| * Fixed angle representation: XYZ, angle(γ, β, α)
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| * Inverse of an orientation representation
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| === Lecture 2: Direct Kinematics ===
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| Previous
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| * Independent of the structure of the manipulator
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| Introduction
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| * A set of parameters specific to each manipulator
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| * ex) rotation, translation, link of manipulator
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| * Forware Kinematics
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| * Inverse Kinematics
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| Link Description
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| * Manipulator: Consist of a chain of links from base
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| * Consecutive links are connected by joints which exert the degree of freedom.
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| D-H Parameter
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| * link length(a): length along the common normal from axis (i-1) to axis i
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| * link twist(α): angle between this parallel line and axis (i-1)
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| * link offset(θ): distance alont the line on axis i between the common normal for link (i-1) and common normal for link i
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| * joint angle(d): angle between the two common normal for link (i-1) and common normal for link i
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| * Revolute joint: joint angle(variable), link offset(constant)
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| * Prismatic joint: joint angle(constant), link offset(variable)
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| * a, α: describe link
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| * d, θ: describe the link's connection
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| Conventions for First and Last Link
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| * Once robot structure is set link length & link twist is determined.
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| * a(i) and α(i) depend on joint axes i and i+1
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| Axes 1 to n: determined => a(1), a(2), ,,,, a(n-1) and α(1), α(2), ,,,,a(n-1)
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| * d(i) and θ(i) depend on
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| Attaching Frames to links
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| * ex1) RRR (Revolute-Revolute-Revolute) Manipulator
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| * ex2) RPRR (Revolute-Prismatic-Revolute-Revolute) Manipulator
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| Propagation of Frames
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| === Lecture 3 ===
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| == Comments ==
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| 선배님 너무 멋있어여 - [[조예진]]
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| * 새싹 준비입니다 - [[우준혁]]
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| == Closed ==
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| == Back page ==
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| * [[우준혁]]
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