Robotics Advance | Chapter 2: Advanced Kinematics and Dynamics by Prakhar Chauhan | Learn Smarter
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Chapter 2: Advanced Kinematics and Dynamics

The chapter delves into advanced concepts of kinematics and dynamics essential for robotic systems, examining forward and inverse kinematics, redundant manipulators, Jacobian analysis, and dynamic modeling through Newton-Euler and Lagrangian formulations. It highlights the significance of force and torque control for physical interaction between robots and their environments, emphasizing flexibility and stability in robotic movements.

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Sections

  • 2

    Advanced Kinematics And Dynamics

    This section delves into the mathematical principles of advanced robotic kinematics and dynamics, focusing on complex motion, redundant manipulators, and force control.

    Learning Practice

  • 2.1

    Forward And Inverse Kinematics For Complex Systems

    This section discusses the principles of forward and inverse kinematics, highlighting how to determine the end-effector's position based on joint movements and vice versa.

    Learning

  • 2.1.1

    Forward Kinematics (Fk)

    Forward kinematics involves calculating the position and orientation of a robot's end-effector based on known joint parameters.

    Learning Practice

  • 2.1.2

    Inverse Kinematics (Ik)

    Inverse kinematics (IK) determines the joint movements needed to achieve a desired end-effector pose, facing challenges like multiple solutions and singularities.

    Learning Practice

  • 2.2

    Redundant Manipulators And Closed Kinematic Chains

    This section discusses redundant manipulators and closed kinematic chains in robotic systems, highlighting their definitions, advantages, and challenges.

    Learning Practice

  • 2.2.1

    Redundant Manipulators

    Redundant manipulators possess more degrees of freedom than necessary for specific tasks, offering improved flexibility and obstacle avoidance.

    Learning Practice

  • 2.2.2

    Closed Kinematic Chains

    Closed kinematic chains are structures in robotics that form loops, enabling multiple motion paths between two points, offering benefits like increased stiffness and load capacity.

    Learning Practice

  • 2.3

    Jacobian Analysis And Singularities

    This section covers the Jacobian matrix's role in robotics, focusing on its use in relating joint velocities to end-effector velocities, and explains the concept of singularities.

    Learning Practice

  • 2.3.1

    What Is The Jacobian?

    The Jacobian matrix relates joint velocities to end-effector velocities, playing a significant role in robotic control and analysis.

    Learning Practice

  • 2.3.2

    Singularities

    Singularities in robotic motion occur when the Jacobian Matrix loses rank, affecting the robot's motion capabilities and leading to complexities in control.

    Learning Practice

  • 2.4

    Lagrangian And Newton-Euler Dynamic Modeling

    This section introduces dynamic modeling for robotics using the Lagrangian and Newton-Euler approaches.

    Learning Practice

  • 2.4.1

    Newton-Euler Formulation

    The Newton-Euler formulation provides a systematic method to calculate forces and torques in robotic systems using Newton's laws, essential for dynamic modeling.

    Learning Practice

  • 2.4.2

    Lagrangian Formulation

    The Lagrangian formulation is a method for modeling robot dynamics based on the energy of the system, contrasting with the Newton-Euler method.

    Learning Practice

  • 2.5

    Force And Torque Control Frameworks

    This section discusses the critical concepts of force and torque control in robotic systems, emphasizing their importance for dynamic interaction with the environment.

    Learning Practice

  • 2.5.1

    Force Control

    This section covers the fundamental principles of force and torque control in robotic systems, highlighting the methods and benefits of each.

    Learning Practice

  • 2.5.2

    Torque Control

    Torque control involves commanding how much rotational force each joint motor should exert to enhance robot compliance during interactions with the environment.

    Learning Practice

References

Untitled document (18).pdf

Class Notes

Memorization

What we have learnt

  • Forward and inverse kinemat...
  • Redundant manipulators enha...
  • Jacobian matrices are essen...

Final Test

Revision Tests