Computer Science › Specialization
What counts as a robot, links, joints, actuators, sensors, and end effectors, classifying manipulators by their joints, and counting degrees of freedom.
Rotation matrices and their properties, composing rotations about fixed and moving frames, Euler and roll-pitch-yaw angles, and gimbal lock.
The 4x4 homogeneous transform as a rigid-body pose, its composition along a kinematic chain, and its inverse, moving the graphics lesson's idea into robot frames.
Forward kinematics as a product of link transforms, worked on planar two-link and three-link arms and checked numerically.
The Denavit-Hartenberg parameters, assigning link frames step by step, building the table, and the difference between the classic and modified conventions.
Geometric and numerical inverse kinematics, multiple solutions, and reachable versus dexterous workspace.
Linear and angular velocity of the end effector, building the geometric Jacobian from the chain, and how it differs from the analytic Jacobian.
Where the Jacobian loses rank, what a singularity does to joint velocities, and Yoshikawa's manipulability measure.
How the transpose of the Jacobian maps an end-effector force to joint torques, worked numerically on a serial arm.
Kinetic and potential energy of the links, the Euler-Lagrange equation, and deriving the dynamics of a two-link arm.
The standard form of the manipulator equation, what its inertia, Coriolis, centrifugal, and gravity terms mean physically, and how they are computed for a two-link arm.
Independent joint control of a geared motor, the P, I, and D terms and their tuning, gravity feed-forward, and what the decoupled approach ignores.
Joint-space trajectories with cubic and quintic polynomials, trapezoidal velocity profiles, and via points.
Teach pendants and offline languages as the book describes them, then the ROS 2 model of nodes, topics, services, and actions as practiced today.
One pick-and-place task traced through the whole discipline: poses, inverse kinematics, a joint-space trajectory, the torques it demands, and the control loop that tracks it.
Part of the Computer Science curriculum.
What counts as a robot, links, joints, actuators, sensors, and end effectors, classifying manipulators by their joints, and counting degrees of freedom.
Rotation matrices and their properties, composing rotations about fixed and moving frames, Euler and roll-pitch-yaw angles, and gimbal lock.
The 4x4 homogeneous transform as a rigid-body pose, its composition along a kinematic chain, and its inverse, moving the graphics lesson's idea into robot frames.
Forward kinematics as a product of link transforms, worked on planar two-link and three-link arms and checked numerically.
The Denavit-Hartenberg parameters, assigning link frames step by step, building the table, and the difference between the classic and modified conventions.
Geometric and numerical inverse kinematics, multiple solutions, and reachable versus dexterous workspace.
Linear and angular velocity of the end effector, building the geometric Jacobian from the chain, and how it differs from the analytic Jacobian.
Where the Jacobian loses rank, what a singularity does to joint velocities, and Yoshikawa's manipulability measure.
How the transpose of the Jacobian maps an end-effector force to joint torques, worked numerically on a serial arm.
Kinetic and potential energy of the links, the Euler-Lagrange equation, and deriving the dynamics of a two-link arm.
The standard form of the manipulator equation, what its inertia, Coriolis, centrifugal, and gravity terms mean physically, and how they are computed for a two-link arm.
Independent joint control of a geared motor, the P, I, and D terms and their tuning, gravity feed-forward, and what the decoupled approach ignores.
Joint-space trajectories with cubic and quintic polynomials, trapezoidal velocity profiles, and via points.
Teach pendants and offline languages as the book describes them, then the ROS 2 model of nodes, topics, services, and actions as practiced today.
One pick-and-place task traced through the whole discipline: poses, inverse kinematics, a joint-space trajectory, the torques it demands, and the control loop that tracks it.