Introduction to Robotics In the name of Allah

Introduction to Robotics o Leila Sharif o o Lecture #6: Kinematics

Introduction to Robotics Last time we saw:  Robot Joint  Robot characteristics  Robot reference frame  Robot languages

Introduction to Robotics Robot Kinematics

Introduction to Robotics Forward (direct) Kinematics Determine where the robot’s end (hand) will be if all joint variables are known

Introduction to Robotics Inverse Kinematics Calculate what each joint variable must be if we desire that the hand be located at a particular point and have a particular orientation

Introduction to Robotics Closed-loop mechanism Open-loop Mechanism

Introduction to Robotics Open-loop mechanism A kinematic chain is termed open when there is only one sequence of link connected the two ends of the chain

Introduction to Robotics Closed-loop mechanism A manipulator contains a closed kinematic chain when a sequence of links form a loop

Introduction to Robotics Representation of a point in space P=ai+bj+ck

Introduction to Robotics Representation of a vector in space

Introduction to Robotics Transformations (using white board)