1. Mehdi Ghayoumi MSB rm 132 mghayoum@kent.edu Ofc hr: Thur, 11-12:30a 160 Robotic Concepts

2. Announcements: HW3 is available NOW! Robotic Concepts

3. Cartesian: Cylindrical:Spherical: Articulated:SCARA:

4. Robotic Concepts A point is attached to a rotating frame, the frame rotates 60 degree about the OZ axis of the reference frame. Find the coordinates of the point relative to the reference frame after the rotation.

5. Robotic Concepts A point is the coordinate w.r.t. the reference coordinate system, find the corresponding point w.r.t. the rotated OU-V-W coordinate system if it has been rotated 60 degree about OZ axis.

6. Robotic Concepts Find the rotation matrix for the following operations:

7. Robotic Concepts

8. A human arm has 7 DOF: –3 in the shoulder, –1 in the elbow, –3 in the wrist All of which can be controlled. A free object in 3D space (e.g., the hand, the finger tip) can have at most 6 DOF! So there are redundant ways of putting the hand at a particular position in 3D space. This is the core of why robot manipulation is very hard! Robotic Concepts

9. How many degrees of freedom does your hand have, with your forearm fixed in position? (Hint: It’s not 6) Robotic Concepts

10. Total Thumb Fingers Palm Wrist Part 23 1.2 @ base (attached to wrist) 2.1 @ visible joints 4 1.2 @ base (Up-down & side-to-side) 2.1 @ each of two joints 4*4 1.Open-close a little1 1.Side-to-side 2.Up-down 2 CommentDoF Robotic Concepts

11. First law: A robot may not injure a human being or through inaction allow a human being to come to harm. Second Law: A robot must obey the orders given to it by human beings, except where such orders would conflict with the first law. Third law: A robot must protect its own existence, as long as such protection does not conflict with the first or second law.

12. Robotic Concepts Zeroth law: A robot may not harm humanity or by inaction allow humanity to come to harm.

13. Robotic Concepts

19. Player running in negative direction increases negative velocity results in negative acceleration. Player begins to decrease velocity in negative direction has positive acceleration. Positive and negative accelerations can occur without changing directions. Motion in a negative direction Increasing velocity Decreasing velocity Negative acceleration Positive acceleration Motion in a positive direction Increasing velocity Decreasing velocity Negative acceleration Positive acceleration Robotic Concepts

20.  Roll: Rotation of about-axis ( x -axis of the moving frame)  Pitch: Rotation of about-axis ( y -axis of the moving frame)  Yaw: Rotation of about-axis ( z -axis of the moving frame) Robotic Concepts

21. Roll, Pitch, Yaw(RPY) Angles

22.  Forward Kinematics: to determine where the robot ’ s hand is? (If all joint variables are known)  Inverse Kinematics: to calculate what each joint variable is? (If we desire that the hand be located at a particular point) Robotic Concepts

23. Where is my hand? Direct Kinematics: HERE! Robotic Concepts Direct Kinematics

24. How do I put my hand here? Choose these angles! Robotic Concepts Inverse kinematics

25. Robotic Concepts

27. Thank you!