{"id":18536,"date":"2020-01-18T01:53:49","date_gmt":"2020-01-18T01:53:49","guid":{"rendered":"https:\/\/www.wacoca.com\/life\/18536\/"},"modified":"2020-01-18T01:53:49","modified_gmt":"2020-01-18T01:53:49","slug":"robotics-rbt-2018-fall-09-15-basic-principles-of-manipulator-vector-approach-for-kinetics-i","status":"publish","type":"post","link":"https:\/\/www.wacoca.com\/life\/18536\/","title":{"rendered":"Robotics (RBT) 2018 Fall (09\/15) Basic principles of manipulator: vector approach for kinetics \u2013 I"},"content":{"rendered":"<p><iframe loading=\"lazy\"  width=\"580\" height=\"385\" src=\"https:\/\/www.youtube.com\/embed\/SapLtXcfnio\" frameborder=\"0\" allowfullscreen><\/iframe><br \/>\n<br \/>\nRobotics (RBT) 2018 Fall (09\/15) Basic principles of manipulator: vector approach for kinetics \u2013 part I: forward from joint space to work space<\/p>\n<p>((Subject)) Robotics (RBT)<br \/>\n((School)) Graduate School of Information, Production and Systems (IPS), Waseda University<br \/>\n((Term)) 2018 Fall semester<br \/>\n((Lecturer)) Prof. Takafumi MATSUMARU<br \/>\n((Number)) (09\/15) 2018.10.31 main part<br \/>\nChapter 09 Basic principles of manipulator: vector approach for kinetics \u2013 part I: forward from joint space to work space<br \/>\n1. Kinematics\uff08\u904b\u52d5\u5b66\uff09and Dynamic\uff08\u52d5\u529b\u5b66\uff09 on manipulator<br \/>\n(1) Kinematics\uff08\u904b\u52d5\u5b66\uff09and Dynamic\uff08\u52d5\u529b\u5b66\uff09<br \/>\n(2) Description of manipulator configuration\uff08\u69cb\u9020\uff09 and movement\uff08\u904b\u52d5\uff09<br \/>\n(3) Basics on vector operation and differential operation<br \/>\n(4) Cartesian coordinate system<br \/>\n2. Direct kinematics\uff08\u9806\u904b\u52d5\u5b66\uff09 (1)<br \/>\n(1) Local coordinate system indicating link orientation<br \/>\n(2) Coordinate transformation at rotation joint<br \/>\n(3) Procedure of direct kinematics about position (from joints to end-tip)<br \/>\n(4) Ex.) Articulated (multi-joint) manipulator \uff08\u591a\u95a2\u7bc0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\uff09<br \/>\na) Multiple rotation joint in serial link mechanism<br \/>\nb) To calculate each joint position: rotation joint, prismatic joint<br \/>\n(5) Ex.) Articulated (multi-joint) manipulator \uff08\u591a\u95a2\u7bc0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\uff09<br \/>\na) Multiple rotation joint in serial link mechanism<br \/>\nb) Joint position of articulated (multi-joint) manipulator<br \/>\nc) Joint orientation of articulated (multi-joint) manipulator<br \/>\nd) Joint position of articulated (multi-joint) manipulator<br \/>\n(6) Local coordinate system and base coordinate system<br \/>\n(7) ex.) Industrial robot arm (3 DoF model)<br \/>\n(8) D-H (Denavit\u2013Hartenberg) parameters<br \/>\n((Copyright)) Takafumi MATSUMARU, Professor\/Director, Bio-Robotics &#038; Human-Mechatronics Laboratory, Graduate School of Information, Production and Systems (IPS), Waseda University<br \/>\nhttp:\/\/www.waseda.jp\/sem-matsumaru\/<br \/>\nhttp:\/\/www.f.waseda.jp\/matsumaru\/<br \/>\n((Keyword)) Robotics, Mechatronics, Human-Machine-Interaction, Robot, User-Interface, Bio-Engineering, Theory and Practice, Practical Application, Takafumi, Matsumaru, Waseda, University, \u677e\u4e38, \u9686\u6587, \u65e9\u7a32\u7530, \u5927\u5b66, \u30ed\u30dc\u30c3\u30c8,\u30d2\u30e5\u30fc\u30de\u30f3, \u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3, \u751f\u4f53, \u5de5\u5b66, \u4eba\u9593\u5b66,<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Robotics (RBT) 2018 Fall (09\/15) Basic principles of manipulator: vector approach for kinetics \u2013 part I: forwa<\/p>\n","protected":false},"author":2,"featured_media":18537,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[32514,31,32511,32518,32510,32516,32512,32509,30,32517,32515,32520,32513,32519,32526,961,32525,32524,32529,7429,32528,32523,32521,32527,32522],"class_list":{"0":"post-18536","1":"post","2":"type-post","3":"status-publish","4":"format-standard","5":"has-post-thumbnail","7":"category-hair-care","8":"tag-bio-engineering","9":"tag-conditioner","10":"tag-human-machine-interaction","11":"tag-matsumaru","12":"tag-mechatronics","13":"tag-practical-application","14":"tag-robot","15":"tag-robotics","16":"tag-shampoo","17":"tag-takafumi","18":"tag-theory-and-practice","19":"tag-university","20":"tag-user-interface","21":"tag-waseda","22":"tag-32526","23":"tag-961","24":"tag-32525","25":"tag-32524","26":"tag-32529","27":"tag-7429","28":"tag-32528","29":"tag-32523","30":"tag-32521","31":"tag-32527","32":"tag-32522"},"share_on_mastodon":{"url":"","error":""},"_links":{"self":[{"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/posts\/18536","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/comments?post=18536"}],"version-history":[{"count":0,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/posts\/18536\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/media\/18537"}],"wp:attachment":[{"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/media?parent=18536"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/categories?post=18536"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wacoca.com\/life\/wp-json\/wp\/v2\/tags?post=18536"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}