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Introduction to RoboticsKinematics<br />CSCI 4830/7000<br />February 1, 2010<br />NikolausCorrell<br />
Last week’s exercise<br />Suspension stability<br />Statically vs. dynamically stable gaits<br />
Last week’s exercise<br />Dynamically stable motions<br />Sinuoidal motions for gait generation<br />
Today<br />Forward kinematic<br />Inverse kinematics<br />Feedback position control<br />Mobility<br />Steerability<br />
Forward Kinematics<br />Given<br />Wheel speeds<br />Wheel radius<br />Axle length<br />Required<br />Speed in robot coord...
Inverse Kinematics<br />Given<br />Desired speed in world coordinates<br />Required<br />Set-speed in robot coordinates<br...
Motion Control<br />
Motion Control<br />Calculate forward and rotational speed from position error<br />Easier: express error in polar coordin...
Example<br />
Wheel kinematic constraints<br />Wheel HAS to roll<br />Wheel cannot slide<br />
Robot kinematic constraints<br />Only standard wheels impose constraints<br />Fixed<br />Steerable<br />Castor, Swedish an...
Maneuverability<br />Robot moves along x, y and theta<br />Degree of mobility: number of parameters the robot can change j...
Maneuverability<br />
Examples<br />
Homework<br />Reading<br />Chapter 4: up to including 4.1.7<br />Exercise<br />Program a way-point following robot<br />
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Lecture 03: Kinematics

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Transcript of "Lecture 03: Kinematics"

  1. 1. Introduction to RoboticsKinematics<br />CSCI 4830/7000<br />February 1, 2010<br />NikolausCorrell<br />
  2. 2. Last week’s exercise<br />Suspension stability<br />Statically vs. dynamically stable gaits<br />
  3. 3. Last week’s exercise<br />Dynamically stable motions<br />Sinuoidal motions for gait generation<br />
  4. 4. Today<br />Forward kinematic<br />Inverse kinematics<br />Feedback position control<br />Mobility<br />Steerability<br />
  5. 5. Forward Kinematics<br />Given<br />Wheel speeds<br />Wheel radius<br />Axle length<br />Required<br />Speed in robot coords<br />Speed in world coords<br />
  6. 6. Inverse Kinematics<br />Given<br />Desired speed in world coordinates<br />Required<br />Set-speed in robot coordinates<br />Wheel-speed<br />
  7. 7. Motion Control<br />
  8. 8. Motion Control<br />Calculate forward and rotational speed from position error<br />Easier: express error in polar coordinates<br />
  9. 9. Example<br />
  10. 10. Wheel kinematic constraints<br />Wheel HAS to roll<br />Wheel cannot slide<br />
  11. 11. Robot kinematic constraints<br />Only standard wheels impose constraints<br />Fixed<br />Steerable<br />Castor, Swedish and Spherical wheels do not<br />
  12. 12. Maneuverability<br />Robot moves along x, y and theta<br />Degree of mobility: number of parameters the robot can change just with its wheels<br />Degree of steerability: how many independently steered wheels?<br />Maneuverability <br />= mobility + steerability<br />= Degrees of freedom a robot can manipulate<br />
  13. 13. Maneuverability<br />
  14. 14. Examples<br />
  15. 15. Homework<br />Reading<br />Chapter 4: up to including 4.1.7<br />Exercise<br />Program a way-point following robot<br />
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