#### Robotic arms and forward kinematics

masterclass

masterclass

lesson

We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]

lesson

This masterclassÂ has been about kinematics and we define that term.

lesson

We will learn about the relationship, in 2D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions.

lesson

We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.

lesson

We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.

lesson

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

lesson

Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.

lesson

We summarise the important points from this masterclass.

lesson

For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.