Robotics (RBT) 2018 Fall (09/15) Basic principles of manipulator: vector approach for kinetics – part I: forward from joint space to work space
((Subject)) Robotics (RBT)
((School)) Graduate School of Information, Production and Systems (IPS), Waseda University
((Term)) 2018 Fall semester
((Lecturer)) Prof. Takafumi MATSUMARU
((Number)) (09/15) 2018.10.31 main part
Chapter 09 Basic principles of manipulator: vector approach for kinetics – part I: forward from joint space to work space
1. Kinematics（運動学）and Dynamic（動力学） on manipulator
(1) Kinematics（運動学）and Dynamic（動力学）
(2) Description of manipulator configuration（構造） and movement（運動）
(3) Basics on vector operation and differential operation
(4) Cartesian coordinate system
2. Direct kinematics（順運動学） (1)
(1) Local coordinate system indicating link orientation
(2) Coordinate transformation at rotation joint
(3) Procedure of direct kinematics about position (from joints to end-tip)
(4) Ex.) Articulated (multi-joint) manipulator （多関節マニピュレータ）
a) Multiple rotation joint in serial link mechanism
b) To calculate each joint position: rotation joint, prismatic joint
(5) Ex.) Articulated (multi-joint) manipulator （多関節マニピュレータ）
a) Multiple rotation joint in serial link mechanism
b) Joint position of articulated (multi-joint) manipulator
c) Joint orientation of articulated (multi-joint) manipulator
d) Joint position of articulated (multi-joint) manipulator
(6) Local coordinate system and base coordinate system
(7) ex.) Industrial robot arm (3 DoF model)
(8) D-H (Denavit–Hartenberg) parameters
((Copyright)) Takafumi MATSUMARU, Professor/Director, Bio-Robotics & Human-Mechatronics Laboratory, Graduate School of Information, Production and Systems (IPS), Waseda University
http://www.waseda.jp/sem-matsumaru/
http://www.f.waseda.jp/matsumaru/
((Keyword)) Robotics, Mechatronics, Human-Machine-Interaction, Robot, User-Interface, Bio-Engineering, Theory and Practice, Practical Application, Takafumi, Matsumaru, Waseda, University, 松丸, 隆文, 早稲田, 大学, ロボット,ヒューマン, インタラクション, 生体, 工学, 人間学,