Intro2Robotics Lecture 7b: Forward to Inverse Kinematics example

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  • เผยแพร่เมื่อ 18 พ.ย. 2024
  • Lecture 7 is divided into 3 parts.
    Part A explores the workspaces of 3-link robots: • Robot Manipulator Work...
    Part B applies forward kinematics to a 3 link robot: • Intro2Robotics Lecture...
    Part C uses the same robot and solves the inverse kinematics: • Intro2Robotics Lecture...
    The handout for this is located in the worksheets folder of uofh-my.sharep...

ความคิดเห็น • 26

  • @kupkumral2793
    @kupkumral2793 2 ปีที่แล้ว +5

    Watched before the robotics engineering exam. Thanks!

  • @jonsnow3513
    @jonsnow3513 2 หลายเดือนก่อน

    Simply explained , thank you sir

  • @kevinthomas7692
    @kevinthomas7692 3 ปีที่แล้ว +2

    Man you can teach..Respect!

  • @alexbonomi5876
    @alexbonomi5876 ปีที่แล้ว

    Best video I have seen so far!!

  • @MrMitdac01
    @MrMitdac01 3 ปีที่แล้ว +3

    Really good video Sir, could you tell me what software you use to simulate workspace of robot , thanks you so much

    • @AaronBecker
      @AaronBecker  3 ปีที่แล้ว +4

      I've been using Mathematica to graph the workspaces. You can try some of these for free at demonstrations.wolfram.com/RobotManipulatorWorkspaces/ (requires a free download). I can relatively easily generate the workspace for a 3 DOF robot, but drawing the workspace for a 4 or more DOF robot is slow.

  • @jji2806
    @jji2806 ปีที่แล้ว +1

    Hi, I do not understand the A2 matrix, is there not a translation by the link?

  • @dorcyh.a1158
    @dorcyh.a1158 4 หลายเดือนก่อน

    In matrix A2 isn't the translation along the x axis by r2? Why were c2 and s2 used instead

  • @rostkgb
    @rostkgb 2 ปีที่แล้ว +1

    excellent explanation, thanks

  • @m.alwahedi95
    @m.alwahedi95 2 ปีที่แล้ว +1

    Thanks pro.. can i ask you what is the name of the simulation prog that u use at the end of the video?

    • @AaronBecker
      @AaronBecker  2 ปีที่แล้ว +4

      I use mathematica to make my demonstrations. You can find them (and the code) at demonstrations.wolfram.com/author.html?author=Aaron+T.+Becker

  • @TheTestr
    @TheTestr 6 หลายเดือนก่อน

    I don't really get what's c1 and r1 in the A1 matrix. It has some connection to Theta1 but I don't really get it

    • @AaronBecker
      @AaronBecker  6 หลายเดือนก่อน

      The abbreviation for cos(theta1) is c1, and r1 is the radial distance of the rotation about the axis z0. This is the distance along x1 from z0 to z1.

  • @vuao1551
    @vuao1551 ปีที่แล้ว

    Can you teach parallel robot?

  • @goolamfareedbangie510
    @goolamfareedbangie510 3 ปีที่แล้ว

    Amazing video , so with this transformation matrix , do we take the coordinates of the end effector and multiply it by this transformation matrix to get the coordinates of the end effector with respect to the world frame ?

    • @AaronBecker
      @AaronBecker  3 ปีที่แล้ว +1

      No, this matrix (H = T_3^0 @11:33) tells you the coordinates of the end effector using the world from as the reference frame. This is a three link manipulator, so the world (or base) frame is frame 0, and the end effector frame is 3. You multiple the three homogeneous A matrixes to get this total transformation matrix: A_1*A_2*A_3 = T_3^0.

  • @alecyongzichun700
    @alecyongzichun700 10 หลายเดือนก่อน

    Nice video TQ

  • @michajaros6313
    @michajaros6313 ปีที่แล้ว +1

    Sir, you are filling this dh table in a completely random way, it does not make it easier to understand. I did but for someone else it could be difficult. Please, consider filling it either row by row or column by column

    • @AaronBecker
      @AaronBecker  ปีที่แล้ว +3

      Yes, that would be a better way to do this -- next time!

    • @kubumshel
      @kubumshel ปีที่แล้ว

      Thanks for this comment. Sometimes professors forget they are teaching people that have different range of assimilation. Some of us have a linear process of learning.😅

  • @مريمفلاححسين3
    @مريمفلاححسين3 3 ปีที่แล้ว

    Thank you🌹

    • @AaronBecker
      @AaronBecker  3 ปีที่แล้ว +1

      Thanks! I hope your robotics journey is going well!

    • @مريمفلاححسين3
      @مريمفلاححسين3 3 ปีที่แล้ว

      @@AaronBecker Yes, of course, this is excellent🌹

  • @arthurschelbauer5617
    @arthurschelbauer5617 ปีที่แล้ว

    whats the software you use at the end for the simulation?

    • @AaronBecker
      @AaronBecker  ปีที่แล้ว +1

      A Mathematica file my student and I made. You can play with it at demonstrations.wolfram.com/CommonRobotArmConfigurations/