[로봇공학입문] 1.1. Course introduction : Degree of freedom, force closure, forward and inverse kinematics - 박종우

  • 강의명 : 로봇공학입문 1-1 강의자 : 박종우
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잠시만 기다려주세요. 로딩중입니다.

로봇의 역학 및 제어에 대한 기초를 제공한다. 기본 개념 및 정리위주로 강좌가 진행되며, 학생들은 로봇의 모델링, 동작 계획 및 제어에 필요한 다양한 해석적 방법들을 학습하고, 로봇에 대한 물리적 직관력을 기른다.

 

 

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[Course introduction]  
            
1-1  Degree of freedom, force closure, forward and inverse kinematics (29:32)
1-2  velocity analysis, planning, and control (25:11)

[Mobility of a mechanism]        

2-1  Joints, links, mechanisms, and mobility (39:39)
2-2  Gruebler's formula for planar mechanisms (14:49)
2-3  Gruebler's formula for spatial mechanisms (15:09)

[Form and Force Closure (1): Planar form closure]        

3-1  Review of Mobility (18:44)
3-2  Grasping and contact models (22:22)
3-3  Static Equilibrium and Form closure (36:00)

[Form and Force Closure 2]        

4-1  Review of Frictionless point contacts (22:35)
4-2  A Convex Hull Test for Form Closure (28:15)
4-3  Planar force closure: point contacts with friction (22:00)

[Form and Force Closure (2): Planar force closure]        

5-1  Review of Form & Force closure (28:48)
5-2  Spatial force closure (08:57)
5-3  Introduction to Rotations (36:05)

[Euler angle]        

6-1  Review of Rotation (21:41)
6-2  Euler angle (27:36)

[Introduction to Rigid body motions]    

7-1  Review of  Euler angle (41:15)
7-2  Some Basic Results from Linear Differential Equations (25:38)

[Rotations matrix in exponential coordinates]        

8-1  Review of  Euler angle and some linear differential equations (20:39)
8-2  Introduction to Exponential coordinates (26:35)
8-3  Rotation matrix in Exponential coordinates (22:59)

[Rigid body motions : SE(3)]        

9-1  Review of  exponential coordinate representation for SO(3) (20:02)
9-2  Rigid body motions : SE(3) (49:57)

[Forward kinematics of open chains: the Denavit-Hartenberg representation]         

10-1  Review of Rigid-Body Motions (12:05)
10-2  Forward kinematics (14:10)
10-3  Denavit-Hartenberg representation (40:37)

[Forward kinematics of open chains : Screw motion]        

11-1  Review of Denavit-Hartenberg Parameters (37:02)
11-2  Screw motion (21:48)
11-3  Exponential representation about the screw axis (17:01)

[Forward kinematics of open chains : Product of Exponentials Formula]        

12-1  Review of screw motions (10:05)
12-2  Product of Exponentials Formula (35:52)

["Forward kinematics of open chains : Product of Exponentials Formula 
and Introduction to Differential kinematics"]        

13-1  Relation with Denavit-Hartenberg Representation (15:55)
13-2  A second Formulation of POE (31:31)
13-3  Introduction to differential kinematics (22:54)

[Differential kinematics of open chains : linear and angular velocities]         

14-1  Review of Particle kinematics (33:36)
14-2  Angular velocities (31:10)

[Differential kinematics: spatial velocities and adjoint map]        

15-1  Review of angular velocities and moving frame (26:22)
15-2  Singularities for orientation only case (22:06)
15-3  Spatial velocities (23:00)

[Differential kinematics: spatial velocities]         

16-1  Review of spatial velocities (19:25)
16-2  Space Jacobian (30:31)
16-3  Examples of Space Jacobian (22:39)

[Differential kinematics: kinematic singularity analysis]        

17-1  Review of Space Jacobian (08:15)
17-2  Body Jacobian (13:32)
17-3  Singularities (23:40)
17-4  Some common singularities for 6R open chain (18:10)
 
[Differential kinematics: Statics]        

18-1  Review of Jacobian (10:00)
18-2  Statics of Open Chains (35:09)
18-3  Static Analysis and Virtual Work Principle (26:28)

[Manipulability: manipulability ellipsoid/ Introduction to Inverse kinematics]    

19-1  Manipulability (19:59)
19-2  Some basic result from optimization problem (27:12)
19-3  Introduction to Inverse kinematics (19:51)

[Inverse kinematics: Numerical methods and Redundancy]        

20-1  Review of Inverse kinematics (08:17)
20-2  Inverse kinematics of 6-dof open chain (21:12)
20-3  Numerical method for inverse kinematics (23:54)
20-4  Redundancy (15:46)

[Closed chain kinematics: general formulation]        

21-1  Closed Chains Kinematics : Analysis of 3RPR Planar Parallel Mechanism and Stewart-Gough Platform (40:18)

[Closed Chain Kinematics: Differential Kinematics and Singularities]        

22-1  Analysis of General Parallel Mechanism (35:15)
22-2  Differential Kinematics of Stewart-Gough Platform (14:25)
22-3  Singularities (15:52)

[Basics of robot control: Independent joint PD control]        

23-1  Basics of robot control (21:13)
23-2  PD control for mass-spring-damper system (30:41)
23-3  Independent joint PD control (09:26)

[Basics of robot control: General examples of robot control]        

24-1  Review of PD control (19:15)
24-2  Introduction to PID control (19:32)
24-3  General examples of PD & PID Control (35:03)

로봇공학입문 1-1 로봇공학입문 1-1

강의자 : 박종우
조회수 : 7946
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