Lecture # 2, Course Overview

DESCRIPTION OF POSITION AND ORIENTATION

constantly concerned with the location of objects in 3D space.

objects (links of manipulator, parts or end effectors)

location can be defined using position and orientation in 3D space.

a coordinate system or frame rigidly attached to the object.

some reference coordinate system is used to describe the position and orientation of
object frame.

Any frame can serve as a reference frame. A mechanism will be developed later for
transforming or changing the description of position and orientation from one frame to
another.

FORWARD KINEMATICS OF MANIPULATORS

Kinematics is the science of motion which treats

motion without regards of the forces which cause it.
Studies of position, velocity, acceleration, and all
higher order derivatives of the position variables.
refers to all the geometrical and time based
properties of the motion
manipulators = rigid links + joints ------ performs
relative motion
rigid link or rigid body = 6 DOF (3 positions and 3
orientations)
joint only provide 1 DOF (either prismatic or
revolute), so each joint will give 5 constrains
if we have n rigid bodies and n joints, system DOF =
?
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Lecture # 2, Course Overview

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Lecture # 2, Course Overview

DIRECT KINEMATICS

INVERSE KINEMATICS

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Lecture # 2, Course Overview

JACOBIAN
Besides, static positioning problem, analyzing
position of manipulator in motion is great
importance.
Jocobian (Matrix Quantity) is often use for
performing the velocity analysis of a mechanism.
specifies a mapping from velocity in joint
space to velocity in Cartesian space.
Singularities, points were mapping in not
invertible.
important phenomenon for robotics designers and users.

DYNAMICS
huge field of study devoted to studying the forces required to cause motion.
To accelerate a manipulator from rest, glide to constant end-effector velocity
and finally decelerate to a stop
a complex set of torque function must be applied by the joint actuators.
one way is to use the dynamic equations of motion of the manipulator.
Second use of the dynamic equation of motion is in simulation.

Kinematics
Cartesian
Space

Joint
Space

Dynamics
Control

Actuator
Space

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Lecture # 2, Course Overview

TRAJECTORY GENERATION
describe the smooth and controlled motion of manipulator from here to there.
each joint starts and ends its motion at the same time
the controlled path may be via points or continuous.

ROBOTICS SENSORS AND ACTUATORS

Various sensors and actuators.

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