Robotics

This course mainly explains the kinematics and trajectory planning of the robotic arm in the analysis plane.
Learning objectives:
1. Understand the description of the movement of objects in space
2. Understand the forward and inverse kinematics of multi-joint robotic arms
3. Understand the planning method of motion trajectories

• Chapter 1：Introduction to Robotics (13 minutes and 37 seconds)

• Chapter 2：introduction (6 minutes and 54 seconds)

• Chapter 3：move (3 minutes and 34 seconds)

• Chapter 4：turn (9 minutes and 51 seconds)

• Chapter 5：Rotation matrix (1) (14 minutes and 15 seconds)

• Chapter 6：Rotation matrix (2) (9 minutes and 37 seconds)

• Chapter 7：Rotation matrix (3) (13 minutes and 49 seconds)

• Chapter 8：Rotation matrix and angle (5 minutes and 23 seconds)

• Chapter 9：Fixed angle (1) (9 minutes and 31 seconds)

• Chapter 10：Fixed angle (2) (6 minutes and 44 seconds)

• Chapter 11：Euler angles (1) (9 minutes and 27 seconds)

• Chapter 12：Euler angles (2) (9 minutes and 37 seconds)

• Chapter 13：mapping (14 minutes and 32 seconds)

• Chapter 14：operators(1) (10 minutes and 4 seconds)

• Chapter 15：operators(2) (5 minutes and 54 seconds)

• Chapter 16：transformation matrix (18 minutes and 14 seconds)

• Chapter 17：Introduction to orthodromic kinematics (10 minutes and 23 seconds)

• Chapter 18：Arm geometry description (12 minutes and 0 seconds)

• Chapter 19：DH expression method (Denavit-Hartenberg) (8 minutes and 37 seconds)

• Chapter 20：link transfermation (8 minutes and 38 seconds)

• Chapter 21：link transfermationsExample 1 (14 minutes and 43 seconds)

• Chapter 22：link transfermation example 2 (7 minutes and 14 seconds)

• Chapter 23：Actuator joints and Cartesian space (10 minutes and 50 seconds)

• Chapter 24：Summary of DH expression method 1 (20 minutes and 5 seconds)

• Chapter 25：Summary of DH expression method 2 examples (10 minutes and 7 seconds)

• Chapter 26：Introduction to inverse kinematics (17 minutes and 16 seconds)

• Chapter 27：Multiple solutions 1 (15 minutes and 11 seconds)

• Chapter 28：Multiple solutions 2 (9 minutes and 27 seconds)

• Chapter 29：Multiple solutions 3 (13 minutes and 58 seconds)

• Chapter 30：piepers solution 1 (17 minutes and 17 seconds)

• Chapter 31：piepers solution 2 (8 minutes and 46 seconds)

• Chapter 32：Object picking and placing tasks (18 minutes and 54 seconds)

• Chapter 33：Robotic arm trajectory planning (9 minutes and 42 seconds)

• Chapter 34：Trajectory planning in joint space (12 minutes and 5 seconds)

• Chapter 35：Trajectory planning in cartesian space (5 minutes and 36 seconds)

• Chapter 36：cubic polynomials (15 minutes and 4 seconds)

• Chapter 37：multi-segment cubic polynomials (21 minutes and 41 seconds)

• Chapter 38：general cubic polynomials 1 (9 minutes and 18 seconds)

• Chapter 39：general cubic polynomials 2 example 1 (15 minutes and 48 seconds)

• Chapter 40：general cubic polynomials 3 example 2 (9 minutes and 20 seconds)

• Chapter 41：linear function with parabolic blends1 (14 minutes and 30 seconds)

• Chapter 42：linear function with parabolic blends 2 (12 minutes and 54 seconds)

• Chapter 43：Multi-segment linear function with parabolic blends1 (11 minutes and 9 seconds)

• Chapter 44：Multi-segment linear function with parabolic blends 2 (10 minutes and 25 seconds)

• Chapter 45：linear function with parabolic blendsAnnotation 1 (9 minutes and 49 seconds)

• Chapter 46：linear function with parabolic blendsAnnotation 2 (9 minutes and 50 seconds)

• Chapter 47：Geometric constraints of trajectories in cartesian space (6 minutes and 10 seconds)

• Chapter 48：revisit the rrr manipulator 1 (10 minutes and 28 seconds)

• Chapter 49：revisit the rrr manipulator 2 (10 minutes and 38 seconds)

• Chapter 50：Robot arm trajectory planning example (19 minutes and 1 seconds)

• Chapter 51：Trajectory planning example method 1 (12 minutes and 52 seconds)

• Chapter 52：Trajectory planning example method 2 (15 minutes and 55 seconds)

• Chapter 53：Trajectory planning example method 2 (16 minutes and 13 seconds)

• Chapter 54：annotation (14 minutes and 17 seconds)