1. Mechatronics 1 Week 2

2. Learning Outcomes By the end of this session, students will understand constituents of robotics, robot anatomy and what contributes in learning its movement.

3. Course Outline Robot Anatomy Position & Orientation Coordinates used in learning its movement.

4. Robotics Mechanics Control Computer & Interfacing Sensor & Actuator Vision Intelligence

5. PROBLEMS IN ROBOTICS Planning Trajectory Tactile Control Systems : Position, Velocity & Forces Kinematics Dynamics Vision GOAL

6. Industrial Robot Base Link 1 Link 2 Link 3 Wrist End Effector

7. Kinematics Position Vector Rotation Matrix Learns about a robot movement in space without taking into account any forces which affect that movement.

8. Rotation Matrix O Z Y V W O Z X U W V Y U X O α α Ф Ф θ θ

9. u v w Why Position & Orientation ? x y z u v w u v w R