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Robotics Course: Foundation

This document provides an overview of an introductory robotics course. It discusses the history of robots, categories of robots based on locomotion, and some basics of robotics including coordinate systems, mathematics, kinematics, and the Denavit-Hartenberg parameter. Examples are provided for each topic. The course material includes recommended robotics books and the next class is scheduled for May 29th via Zoom.

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Thiha Ye Thway
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Download as PDF, TXT or read online on Scribd
98 views

Robotics Course: Foundation

This document provides an overview of an introductory robotics course. It discusses the history of robots, categories of robots based on locomotion, and some basics of robotics including coordinate systems, mathematics, kinematics, and the Denavit-Hartenberg parameter. Examples are provided for each topic. The course material includes recommended robotics books and the next class is scheduled for May 29th via Zoom.

Uploaded by

Thiha Ye Thway
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Robotics Course

LR01: Foundation

By: Htet Myat Aung


VI-McE-YTU
28th May 2020
History of Robot
- First played in R.U.R. (Rossum's Universal Robots) by Czech Writer Karel Čapek.
- Named as Robota - Slave/Servant.
History of Robot
- Word “Robotics” - first used in Isaac Asimov’s Liar!.
Categories of Robots (Locomotion)
1. Stationary Robots
a. Manipulators
i. Industrial Robots
ii. Surgical Robots
iii. Consumer - Sales Counter
iv. Canadarm 1,2
2. Mobile Robots
a. Wheeled Robot
i. Exploration robot
ii. Consumer robot
iii. Medical robot (Disinfection)
b. Aerospace
i. Drones (Quadcopter - Tricopter - Fixed wing -etc)
c. Legged Robots
i. Humanoid Robots
ii. Quadruped Robots
d. Aquatic Robots
e. Swarm Robots
Basics Foundation
1. Coordinate System ( Cartesian Coordinate )
2. Mathematics (Matrices,Trigonometry)
3. Kinematics (Forward & Inverse)
4. Denavit Hartenberg Table

Example of Kinematics Diagram Example of Coordinate System in Robotics


1. Coordinate System
Cartesian Coordinate : Mostly identified the Position with two or three points by a linear distance from the origin.
Converting between Polar and Cartesian Coordinate
Basic trigonometry makes it easy to determine polar coordinates from a Cartesian coordinates.
Examples
Translation of Coordinate Frames Rotation of Coordinate Frames
2. Mathematics in Robotics
● Matrices
a. Transformation Matrices
b. Jacobian Matrices
● Basics Trigonometry

Example of Homogeneous Transformation Example of Jacobian Matrix Example of Trigonometry involved in


Matrix basics 2 D.O.F Manipulator
4. Denavit Hartenberg Parameter (D-H Parameter)
The FOUR parameters associated with a particular convention for attaching reference frames to the links of a spatial
kinematic chain, or robot manipulator. ( ɑ, ⍺, d and 𝛳 are 4 important D-H parameters according to this photo )
3. Kinematics Equations
1. Forward Kinematics [ Known angle (𝛳), Unknown End Effector Position (x,y,z) ]
2. Inverse Kinematics [ Unknown angle (𝛳), Known End Effector Position (x,y,z) ]
Course Material and Next Class Schedule
Book

1. Introduction to Robotics : Mechanics and Control (Main)


2. Robotics: Modelling, Planning and Control
3. Modern Robotics: Mechanics, Planning, and Control

Next Course : 29th May 2020 - Time 3 PM to 4 PM ( MMTime )

Zoom Link : https://us04web.zoom.us/j/7863294095?pwd=VXcwQWp2OGpLOGs3a3FtVVFxVEpnZz09

Meeting ID: 786 329 4095

Password: LORA

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