This document provides an introduction to robotics kinematics including forward kinematics, inverse kinematics, and maneuverability. It discusses calculating a robot's speed given its wheel speeds and geometry using forward kinematics, and determining required wheel speeds to achieve a desired speed using inverse kinematics. It also covers a robot's degree of mobility based on the number of independently controllable wheels and degree of steerability based on the number of independently steered wheels to determine its overall maneuverability. Examples are provided and the document concludes with assigning homework to read about forward kinematics and program a waypoint following robot.

1. Introduction to RoboticsKinematicsCSCI 4830/7000September 13, 2010NikolausCorrell

2. Last week’s exerciseSuspension stability

3. Last week’s exerciseStatically vs. dynamically stable gaits

4. Last week’s exerciseDynamically stable motions

5. Last week’s exerciseSinuoidalmotions for gait generation

6. TodayForward kinematicInverse kinematicsFeedback position controlMobilitySteerability

7. Kinematics IntroHow does a robot move?Reference frames

8. Forward KinematicsGivenWheel speedsWheel radiusAxle lengthRequiredSpeed in robot coordsSpeed in world coords

9. Inverse KinematicsGivenDesired speed in world coordinatesRequiredSet-speed in robot coordinatesWheel-speed

10. Wheel kinematic constraintsWheel HAS to rollWheel cannot slide

11. Robot kinematic constraintsOnly standard wheels impose constraintsFixedSteerableCastor, Swedish and Spherical wheels do not

12. ManeuverabilityRobot moves along x, y and thetaDegree of mobility: number of parameters the robot can change just with its wheelsDegree of steerability: how many independently steered wheels?Maneuverability = mobility + steerability= Degrees of freedom a robot can manipulate

13. Maneuverability

14. Examples

15. Motion ControlOpen-Loop vs. Closed Loop

16. Motion ControlCalculate forward and rotational speed from position errorEasier: express error in polar coordinates

17. Example

18. HomeworkReadingChapter 4: up to including 4.1.7ExerciseProgram a way-point following robot