This comprehensive course on Robotics: Fundamentals and Kinematic Modeling (Part 1) is designed to provide students with a thorough understanding of the basic principles and mathematical modeling techniques fundamental to robotic manipulators. The course begins by introducing the core concepts of robotics, distinguishing between robots and manipulators, and exploring various robot configurations to highlight the diversity in robotic system design.
It covers the types of joints used in manipulators, differentiating between active and passive joints, and explains key terminologies that define a robot’s capabilities, limitations, and task suitability. Students also learn about essential components such as stepper and servo motors, along with their feedback devices, critical for robot motion control.
- Understand robot structure and components, including configurations, joints, actuators, end-effectors, and feedback systems.
- Model forward kinematics of robotic manipulators using classical and modified Denavit-Hartenberg (DH) conventions.
- Perform coordinate transformations using homogeneous transformation matrices and Euler angles for orientation analysis.
- Apply frame assignment algorithms to real-world manipulators (e.g., SCARA, Cartesian, Cylindrical) and calculate home positions accurately.
