Robot Study/Introduction to Robotics

Information

Purpose: Learning basic knowledge of robotics Lecture: CS223A, Stanford University Date: Jan 21, 2019 ~

• Prerequite
• Linear Algebra
• Numerical Analysis

Reference

Material: Copy from Stanford Video clips: https://www.youtube.com/watch?v=0yD3uBshJB0&list=PL65CC0384A1798ADF

Study List

Lecture 1

Video Clip

OT

Book

General Manipulator: Robot Arm, using Revolute joint, Prismatic joint

• Robot Arm: base, link, joint, end-effector
• Revolute joint: Rotation movement, 1 Degree of Fredom(DoF)
• Prismatic joint: Linear movement, 1 DoF
• Denote joint type using ε(0 for revolute, 1for prismatic)

Discription of body1 (9 parameters)

• Link location: 3 points (Each point has 3 parameters)

Discription of body2 (6 parameters)

• Body orientation: 3 parameter
• Point on the body: 3 parameter

=> Robot arm(n:links, 1: base) has n DoF

Transformation

• Pure Rotation
• Pure Translation
• General Tasformation
• Inverse Transformation

Configuration Representation There is no universial agreement in the field of robotics as to what is the best orientation representation. Because each representation hase advantages and shortcomings

• Direction Cosines:
• Euler angle representation: ZYX, angle(α, β, γ)
• Fixed angle representation: XYZ, angle(γ, β, α)
• Inverse of an orientation representation

Lecture 2

Video Clip

Kinematics

• Spatial Description

-Task Description

• Transformation
• Representations

Robot arm

• Manipulator: Set of link through the joint
• First link: Base
• Last linke: End-Effector

Comments

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• 새싹 준비입니다 - 우준혁