Robot_Study/Introduction_to_Robotics

Purpose: Learning basic knowledge of robotics
Lecture: CS223A, Stanford University
Date: Jan 21, 2019 ~

Prerequite
- Linear Algebra
- Numerical Analysis

Material: Copy from Stanford
Video clips: https://www.youtube.com/watch?v=0yD3uBshJB0&list=PL65CC0384A1798ADF

OT

General Manipulator: Robot Arm, using Revolute joint, Prismatic joint
- Robot Arm: base, link, joint, end-effector
- Revolute joint: Rotation movement, 1 Degree of Fredom(DoF)
- Prismatic joint: Linear movement, 1 DoF
- Denote joint type using ε(0 for revolute, 1for prismatic)

Discription of body1 (9 parameters)
- Link location: 3 points (Each point has 3 parameters)

Discription of body2 (6 parameters)
- Body orientation: 3 parameter
- Point on the body: 3 parameter
=> Robot arm(n:links, 1: base) has n DoF

Transformation
- Pure Rotation
- Pure Translation
- General Tasformation

Kinematics
* Spatial Description
-Task Description
- Transformation
- Representations

Robot arm
- Manipulator: Set of link through the joint
- First link: Base
- Last linke: End-Effector

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