IntroductionToRobotics-Lecture08 Instructor (Oussama Khatib):Okay, let's get started. So today's video segment is – it's about parallel parking. I know a lot of you don't know how to do the parallel parking, so now you'll get into the car and you press the button, and the car will park itself. Yes, please inaudible. In the first lecture of the quarter, Professor Khatib provides an overview of the course. CS223A is an introduction to robotics which covers topics such as Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Trajectory Generation, Position and Force Control, and Manipulator Design.
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Robots as Mechanisms. Conventions. M atrix Representation. Representation of a Point in Space.
Representation of a Vector in Space. Representation of a Frame at the Origin of a Fixed Reference Frame. Representation of a Frame Relative to a Fixed Reference Frame. Representation of a Rigid Body. Homogeneous Transformation Matrices. Representation of Transformations.
Representation of a Pure Translation. Representation of a Pure Rotation about an Axis.
Representation of Combined Transformations. Transformations Relative to the Rotating Frame. Inverse of Transformation Matrices.
Forward and Inverse Kinematics of Robots. Forward and Inverse Kinematic Equations: Position. Cartesian (Gantry, Rectangular) Coordinates. Cylindrical Coordinates. Spherical Coordinates.
Articulated Coordinates. Forward and Inverse Kinematic Equations: Orientation. Roll, Pitch Yam (RPY) Angles. Euler Angles. Articulated Joints. Forward and Inverse Kinematic Equations: Position and Orientation. Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots.
The Inverse Kinematic Solution of Robots. Differential Relationships. Differential versus Large-Scale Motions. Differential Motions of a Frame versus a Robot. Differential Motions of a Frame. Differential Translations.
Differential Rotations about the Reference Axes. Differential Rotation about a General Axis q. Differential Transformations of a Frame.
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Interpretation of the Differential Change. Differential Changes between Frames. Differential Motions of a Robot and Its Hand Frame. Calc ulation of the Jacobian. How to Relate the Jacobian and the Differential Operator. Inverse Jacobian.
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