Fundamentals of Robotics Course - Fundamentals of Robotics: Wrenches | Lesson 18

Note: Any questions asked underneath this video will be answered directly by Dr. Madi. Watch (00:51) for more details. 🌟 Contents 🌟 💎 (00:00​​) Introduction 💎 (01:16​​) Definition of Wrenches in Robotics 💎 (03:11​​) The Relationship Between Wrench Representation in Two Coordinate Frames 💎 (05:33​​) Wrench Measured by the Robot Wrist's Six-axis Force/Torque Sensor 💎 (07:53​​) Wrench Measured by the Robot Wrist's Six-axis Force/Torque Sensor Considering the Hand's Weight 💎 (09:28​​) Total Wrench in The Body Frame for Multifingered Grasping 💎 (10:21​​) Wrenches for an Arm-mounted Mobile Robot X-Terrabot Moving in a Room and Picking up an Object 💎 (11:56​​) Concluding Remarks In the previous lesson, we learned that screws are geometric interpretations of twists, and they can be used to express configurations in robotics. https://www.youtube.com/watch?v=Q-N3q9DOgrg This lesson is about spatial forces or wrenches in robotics. We will talk about wrenches in this lesson, which are 6-vector representations of forces and moments in robotics. We will also become familiar with how to change the frame of representation of a wrench.  Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson. Thanks for watching! We'd love to have you as a part of the Mecharithm family: https://linktr.ee/mecharithm References: Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry https://www.shadowrobot.com/ https://www.kickstarter.com/projects/1128055363/7bot-a-powerful-desktop-robot-arm-for-future-inven 💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video). ©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source. #torquerobotics #robotforces #robottorque #wrench #roboticswrench #roboticslearning #basicsofrobotics #onlineroboticscourse #freeroboticscourses #learnroboticsathome #fundamentalsofrobotics #mechatronics #robotics #roboticsengineering #mecharithm