lecture_02

COMPAS II: Robotic fundamentals

Introduction to robotics: 1) anatomy of an industrial robot, 2) frames and coordinate systems, 3) transformations.

Brief intro to kinematic functions and path planning.

👉 Slides 📜 Assignment 01 🐱‍🚀 Miro board

Examples

• Frame

  • Construct a frame
  • Point in frame
  • Frame in frame
  • Box from world to local
  • Box from world to local: visualization

• Transformation

  • Examples
  • Inverse transformation
  • Pre-multiplication
  • Pre vs post multiplication
  • Matrix decomposition
  • Transform point and vector
  • Transform multiple
  • Transformations: interactive in GH
  • Transform between frames
  • Box from world to local: visualization

• Rotation

  • Construct a rotation
  • Robot TCP orientations
  • Rotations: interactive in GH
  • Euler angles
  • Axis angle
  • Quaternions

• Intro to kinematics

  • Joint types
  • Configuration
  • Forward kinemativs
  • Forward kinematics: visualization
  • Inverse kinematics
  • Inverse kinematics: interactive in GH
  • Inverse kinematics: custom solver from DH parameters