1. Introduction to Robotics In the name of Allah

2. Introduction to Robotics o Leila Sharif o l_sharif@sharif.edul_sharif@sharif.edu http://ce.sharif.edu/courses/84-85/1/ce516/ o Lecture #6: Kinematics

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

4. Introduction to Robotics Robot Kinematics

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

6. 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

7. Introduction to Robotics Closed-loop mechanism Open-loop Mechanism

8. 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

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

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

11. Introduction to Robotics Representation of a vector in space

12. Introduction to Robotics Transformations (using white board)