Basic Principles of Robotics Fang Lijin, Northeastern University

Robot kinematics and dynamic modeling are the key teaching content of this course. Through this course, students can understand and master the basic principles and modeling methods of robots, establish a systematic and complete basic theoretical system, and prepare for subsequent in-depth study of robot intelligent control and other courses. Build the necessary knowledge base. Focusing on the key content of the course, we designed knowledge points including robot kinematics, dynamics, drive system, posture and trajectory control, force control, intelligent control and MATLAB-based simulation, and initially established and formed course knowledge with its own characteristics. Architecture.

• Chapter 1：Robot concept and development history (10 minutes and 57 seconds)

• Chapter 2：Typical structures and types of robotic arms (8 minutes and 12 seconds)

• Chapter 3：Robotic arm links, joints and degrees of freedom (16 minutes and 21 seconds)

• Chapter 4：Robot system composition and structure (21 minutes and 48 seconds)

• Chapter 5：Rigid body position and attitude description (9 minutes and 55 seconds)

• Chapter 6：Coordinate translation and rotation transformation (8 minutes and 25 seconds)

• Chapter 7：Homogeneous coordinates (10 minutes and 5 seconds)

• Chapter 8：homogeneous transformation (16 minutes and 38 seconds)

• Chapter 9：Robot position kinematics (7 minutes and 48 seconds)

• Chapter 10：Robot forward kinematics (8 minutes and 13 seconds)

• Chapter 11：Robot inverse kinematics (11 minutes and 24 seconds)

• Chapter 12：Robot kinematics example analysis (11 minutes and 49 seconds)

• Chapter 13：Transmission and calculation of connecting rod speed (13 minutes and 20 seconds)

• Chapter 14：Jacobian matrix construction (vector product method) (15 minutes and 22 seconds)

• Chapter 15：Differential motion of coordinate system (21 minutes and 17 seconds)

• Chapter 16：Construction of Jacobian matrix (differential transformation method) (11 minutes and 28 seconds)

• Chapter 17：Strange and workable (15 minutes and 29 seconds)

• Chapter 18：Transfer of static force between connecting rods and force Jacobian matrix (10 minutes and 48 seconds)

• Chapter 19：Moment of inertia and inertia tensor (9 minutes and 29 seconds)

• Chapter 20：Transmission of acceleration between connecting rods (10 minutes and 19 seconds)

• Chapter 21：Robot dynamics modeling (Newton-Euler method) (19 minutes and 10 seconds)

• Chapter 22：Robot dynamics modeling (Lagrangian equation method) (13 minutes and 27 seconds)

• Chapter 23：Lagrangian dynamic modeling (four-link manipulator) (16 minutes and 22 seconds)

• Chapter 24：Robot drive system overview (15 minutes and 54 seconds)

• Chapter 25：Joint drive motor (21 minutes and 0 seconds)

• Chapter 26：Calculation of joint transmission parameters and load characteristics (12 minutes and 18 seconds)

• Chapter 27：Joint servo control (12 minutes and 50 seconds)

• Chapter 28：robot sensor (17 minutes and 33 seconds)

• Chapter 29：Trajectory planning (14 minutes and 5 seconds)

• Chapter 30：Linear interpolation with parabolic transition (10 minutes and 42 seconds)

• Chapter 31：Cartesian space trajectory planning (19 minutes and 33 seconds)

• Chapter 32：Position and trajectory control (26 minutes and 31 seconds)

• Chapter 33：Force control of mass spring systems (12 minutes and 5 seconds)

• Chapter 34：force control (17 minutes and 58 seconds)

• Chapter 35：Application of machine learning in robots (6 minutes and 48 seconds)

• Chapter 36：What is machine learning (8 minutes and 38 seconds)

• Chapter 37：Machine Learning Basics 1 (Classification Problem) (7 minutes and 49 seconds)

• Chapter 38：Machine Learning Basics 2 (Regression Problem) (5 minutes and 9 seconds)

• Chapter 39：Computer Vision 1 (6 minutes and 16 seconds)

• Chapter 40：Computer Vision 2 (7 minutes and 33 seconds)

• Chapter 41：Imitation learning robot (5 minutes and 24 seconds)

• Chapter 42：autonomous learning robot (7 minutes and 38 seconds)

• Chapter 43：multi-agent robot (5 minutes and 56 seconds)

• Chapter 44：Future intelligent robot (6 minutes and 26 seconds)

• Chapter 45：The concept and connotation of collaborative robots (13 minutes and 36 seconds)

• Chapter 46：Basic concepts of human-computer interaction (12 minutes and 10 seconds)

• Chapter 47：Human-computer interaction interface (12 minutes and 14 seconds)

• Chapter 48：Human-robot collaborative robot programming (10 minutes and 44 seconds)

• Chapter 49：First introduction to Matlab robotics toolbox (12 minutes and 53 seconds)

• Chapter 50：Build a robot model (9 minutes and 15 seconds)

• Chapter 51：Forward and inverse kinematics, trajectory planning (6 minutes and 18 seconds)

• Chapter 52：speed and static force (5 minutes and 23 seconds)

• Chapter 53：Operating arm dynamics (10 minutes and 51 seconds)

• Chapter 54：Matlab simulink (3 minutes and 44 seconds)

• Chapter 55：Operating arm control (6 minutes and 49 seconds)