Intermediate Course

Basic Arm Kinematics

Learn the basic kinematic concepts of robotic arms.

Course Overview

Description

The aim of this course is to provide you with the concepts and tools that will enable you to understand how the motion of a manipulator works. This is the cornerstone of robot manipulation, as it can be later expanded upon with the addition of external sensors in other courses.

Learning Objectives

Learn some basic concepts needed in order to know how to deal with a manipulator robot.
Learn how to compute the Forward Kinematics of a manipulator robot.
Learn how to compute the Inverse Kinematics of a manipulator robot.

Simulation robots used in this course:

Clarkson Manipulator, UR3

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Level

Intermediate

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Duration

30 h

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Prerequisites

Python for Robotics, Linux for Robotics, ROS Basics in 5 Days

What projects will you be doing?

[ROS Q&A] 168 - What are the differences between global and local costmap

Robot Configuration

Analyze the kinematic configuration of your manipulator robot for further analysis.

Forward Kinematics

Compute the Forward Kinematics of your robot both theoretically and using ROS tools.

Inverse Kinematics

Compute the Inverse Kinematics of your robot both theoretically and using ROS tools.

Final Project

Solve the Forward and Inverse Kinematics of the UR3 robot manipulator.

What you will learn

Course Syllabus

Unit 1: Introduction

A brief introduction to the course, including a practical demo.

Unit 2: Robot Configuration

Robot configuration
Representing positions
Representing rotations
Rotational transformations
Composition of rotations
Parameterization of rotations
Homogeneous transformation matrices
Links & Joints
Manipulator classification
Degrees of freedom DOF
Joint limits and configuration space
Reachable workspace
What about ROS? URDF files

Unit 3: Forward Kinematics

Create a Kinematic diagram of your robot
DH parameters
Calculate the Forward Kinematics
What about ROS?
Transforms
Moveit!

Unit 4: Inverse Kinematics

Calculate the Inverse Kinematics
What about ROS?
Create your own IK solver
Moveit!
Using MoveIt’s IK solvers

Final Project

Solve the kinematics of a UR3 robot.

Alberto Ezquerro

Teacher

Passionate about robotic automation and making robots intelligent. Has worked on Autonomous Navigation Systems for indoor & outdoor wheeled robots. His interests include reproducible research, vision for robots, and security for robots.

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