Intro2Robotics Lecture 7b: Forward to Inverse Kinematics example

[@kupkumral2793]

Watched before the robotics engineering exam. Thanks!

[@kevinthomas7692]

Man you can teach..Respect!

[@alexbonomi5876]

Best video I have seen so far!!

[@jonsnow3513]

Simply explained , thank you sir

[@mertarslanoglu5915]

Hi professor. First of all, I appreciate that you made a KZbin series for this lecture set. I would like to ask why did you choose these three plots to infer about the inverse kinematics? Are there any systematic way to start with?

[@jji2806]

Hi, I do not understand the A2 matrix, is there not a translation by the link?

[@MrMitdac01]

Really good video Sir, could you tell me what software you use to simulate workspace of robot , thanks you so much

[@AaronBecker]

I've been using Mathematica to graph the workspaces. You can try some of these for free at demonstrations.wolfram.com/RobotManipulatorWorkspaces/ (requires a free download). I can relatively easily generate the workspace for a 3 DOF robot, but drawing the workspace for a 4 or more DOF robot is slow.

[@dorcyh.a1158]

In matrix A2 isn't the translation along the x axis by r2? Why were c2 and s2 used instead

[@rostkgb]

excellent explanation, thanks

[@m.alwahedi95]

Thanks pro.. can i ask you what is the name of the simulation prog that u use at the end of the video?

[@AaronBecker]

I use mathematica to make my demonstrations. You can find them (and the code) at demonstrations.wolfram.com/author.html?author=Aaron+T.+Becker

[@TheTestr]

I don't really get what's c1 and r1 in the A1 matrix. It has some connection to Theta1 but I don't really get it

[@AaronBecker]

The abbreviation for cos(theta1) is c1, and r1 is the radial distance of the rotation about the axis z0. This is the distance along x1 from z0 to z1.

[@goolamfareedbangie510]

Amazing video , so with this transformation matrix , do we take the coordinates of the end effector and multiply it by this transformation matrix to get the coordinates of the end effector with respect to the world frame ?

[@AaronBecker]

No, this matrix (H = T_3^0 @11:33) tells you the coordinates of the end effector using the world from as the reference frame. This is a three link manipulator, so the world (or base) frame is frame 0, and the end effector frame is 3. You multiple the three homogeneous A matrixes to get this total transformation matrix: A_1*A_2*A_3 = T_3^0.

[@vuao1551]

Can you teach parallel robot?

[@arthurschelbauer5617]

whats the software you use at the end for the simulation?

[@AaronBecker]

A Mathematica file my student and I made. You can play with it at demonstrations.wolfram.com/CommonRobotArmConfigurations/

[@alecyongzichun700]

Nice video TQ

[@michajaros6313]

Sir, you are filling this dh table in a completely random way, it does not make it easier to understand. I did but for someone else it could be difficult. Please, consider filling it either row by row or column by column

[@AaronBecker]

Yes, that would be a better way to do this -- next time!

[@kubumshel]

Thanks for this comment. Sometimes professors forget they are teaching people that have different range of assimilation. Some of us have a linear process of learning.😅

[@مريمفلاححسين3]

Thank you🌹

[@AaronBecker]

Thanks! I hope your robotics journey is going well!

[@مريمفلاححسين3]

@@AaronBecker Yes, of course, this is excellent🌹