Robot Kinematics - CompEx Part 4

CompEx Part 4: This video shows a comprehensive example (CompEx) that discusses and solved all aspects of kinematics involved in this robotics course. The example problem deals with a 3-DoF non-planar RRP robotic arm (revolute-revolute-prismatic joints). The video shows detailed solution in the following topics: how to assign link frames, how to find the DH parameters, how to find the transformation matrices using forward kinematics, how to find the joint values using inverse kinematics, how to find the Jacobian through three different methods (velocity propagation method, direct differentiation method, and forces/moments propagation method), how to transform the Jacobian to a different reference frame, how to extract a square Jacobian that is not permanently singular, how to check if the Jacobian momentarily singular at a given configuration, how to use the inverse of the Jacobian to find joint values for a given Cartesian position, how to create a trajectory for moving the end-effector from an initial position to a desired position, and how to find the joint values for the second step on the trajectory. The video will then show how to use Matlab and the “Robotics” toolbox (by Peter Corke) to verify all the previous work using the computer commands in Matalb, and also how to create a simulation of the robot to go from the initial Cartesian position to the desired Cartesian position using Matlab and the “Robotics” toolbox. The simulation of the robot will also be shown at the end of the video. This CompEx video is (part 4 of 4 parts). Video sequence: (CompEx Part 3) video comes before this video, and this (CompEx Part 4) video is the last video for the Comprehensive Example (CompEx). TEXTBOOK REFERENCE: Introduction to Robotics - Mechanics and Control, by John Craig, 4th Edition, Pearson Education, Inc. Hoboken, NJ 07030, USA.