Teaching Robot Kinematics using RoboAnlayzer (FDP Session)
This is a series of videos recorded during the hands-on session on "Learning Robot Kinematics using RoboAnlayzer" during "Faculty Development Program (FDP) on Robotics and Automation" at IIT Delhi on March 3, 2020.
The session was conducted by Mr. Rajeevlochana G. Chittawadigi (Asst. Prof., Dept of Mech Engg., Amrita School of Engineering, Bengaluru). The FDP was co-ordinated by Prof. S. K. Saha and Prof. S. D. Roy of IIT Delhi.
These video lectures are meant to learn the concepts of Robotics without any commercial benefit. RoboAnalyzer is a priceless freely available software for teaching/learning Robotics. It can be downloaded from here.
The complete list of videos in this series are below:
Video 1: Introduction to Robotics and RoboAnalyzer (~8 min)
Video 2: Degree-of-freedom (DOF) in 2-dimensional (2D) space (~11 min)
Video 3: Degree-of-freedom (DOF) in 3-dimensional (3D) space (~7 min)
Video 4: Orientation representation in 3D using Direction Cosines (~9 min)
Video 5: Homogenous Transformation Matrix (HTM) and visualizaiton of Translation of a frame (~13 min)
Video 6: Direction Cosine Method: Rotation about Z Axis (~8 min)
Video 7: Direction Cosine Method: Rotation about Y and X axes (~9 min)
Video 8: Rotation as non-commutative and demonstration in HTM Module (~ 5 min)
Video 9: Transformation with respect to local and global reference frame (~17 min)
Video 10: Introduction to Denavit-Hartenberg (DH) parameters and representation of a line with respect to a frame (~10 min)
Video 11: Physical representation of Denavit-Hartenberg (DH) parameters and its usage in robot architecture (~9 min)
Video 12: Denavit-Hartenberg (DH) parameters: Activity on a 3-R Spatial manipulator (~14 min)
Video 13: Denavit-Hartenberg (DH) parameters: Animation of robot motion in RoboAnalyzer (~7 min)
Video 14: Robot Kinematics: Forward and Inverse: Explanation of Forward Kinematics of serial robots (~6 min)
Video 15: Forward kinematics of serial robot: Activity on 2-R spatial manipulator in RoboAnalyzer (~6 min)
Video 16: Forward kinematics of KUKA KR5-arc robot using RoboAnalyzer: Plot of end-effector point (~6 min)
Video 17: Inverse kinematics of serial robot using RoboAnalyzer: Planar and wrist-partitioned robot (~10 min)
Video 18: Inverse and forward dynamics of serial robot: Brief explanation (~4 min)
Video 19: Joint-jogging, Cartesian-jogging and Cartesian motion of serial robot in RoboAnalyzer (~8 min)
Video 20: Conclusion and discussion of the session, feedback and felicitation of speaker (~3 min)
Acknowledgements: TEQIP - III (MHRD) for funding to conduct five RoboAnalyzer sessions/workshops in FDPs
co-ordinated by Prof. Ashish Dutta (IIT Kanpur) during Feb-March 2020 at
IIT Kanpur (Prof. Ashish Dutta)
IIT Madras (Prof. T. Asokan)
IIT Delhi (Prof. S. K. Saha and Prof. S. D. Roy)
IIT Roorkee (Prof. P. M. Pathak and Prof. M. F. Orlando)
IIT Guwahati (Prof. S. N. Joshi)
The session was conducted by Mr. Rajeevlochana G. Chittawadigi (Asst. Prof., Dept of Mech Engg., Amrita School of Engineering, Bengaluru). The FDP was co-ordinated by Prof. S. K. Saha and Prof. S. D. Roy of IIT Delhi.
These video lectures are meant to learn the concepts of Robotics without any commercial benefit. RoboAnalyzer is a priceless freely available software for teaching/learning Robotics. It can be downloaded from here.
The complete list of videos in this series are below:
Video 1: Introduction to Robotics and RoboAnalyzer (~8 min)
Video 2: Degree-of-freedom (DOF) in 2-dimensional (2D) space (~11 min)
Video 3: Degree-of-freedom (DOF) in 3-dimensional (3D) space (~7 min)
Video 4: Orientation representation in 3D using Direction Cosines (~9 min)
Video 5: Homogenous Transformation Matrix (HTM) and visualizaiton of Translation of a frame (~13 min)
Video 6: Direction Cosine Method: Rotation about Z Axis (~8 min)
Video 7: Direction Cosine Method: Rotation about Y and X axes (~9 min)
Video 8: Rotation as non-commutative and demonstration in HTM Module (~ 5 min)
Video 9: Transformation with respect to local and global reference frame (~17 min)
Video 10: Introduction to Denavit-Hartenberg (DH) parameters and representation of a line with respect to a frame (~10 min)
Video 11: Physical representation of Denavit-Hartenberg (DH) parameters and its usage in robot architecture (~9 min)
Video 12: Denavit-Hartenberg (DH) parameters: Activity on a 3-R Spatial manipulator (~14 min)
Video 13: Denavit-Hartenberg (DH) parameters: Animation of robot motion in RoboAnalyzer (~7 min)
Video 14: Robot Kinematics: Forward and Inverse: Explanation of Forward Kinematics of serial robots (~6 min)
Video 15: Forward kinematics of serial robot: Activity on 2-R spatial manipulator in RoboAnalyzer (~6 min)
Video 16: Forward kinematics of KUKA KR5-arc robot using RoboAnalyzer: Plot of end-effector point (~6 min)
Video 17: Inverse kinematics of serial robot using RoboAnalyzer: Planar and wrist-partitioned robot (~10 min)
Video 18: Inverse and forward dynamics of serial robot: Brief explanation (~4 min)
Video 19: Joint-jogging, Cartesian-jogging and Cartesian motion of serial robot in RoboAnalyzer (~8 min)
Video 20: Conclusion and discussion of the session, feedback and felicitation of speaker (~3 min)
Acknowledgements: TEQIP - III (MHRD) for funding to conduct five RoboAnalyzer sessions/workshops in FDPs
co-ordinated by Prof. Ashish Dutta (IIT Kanpur) during Feb-March 2020 at
IIT Kanpur (Prof. Ashish Dutta)
IIT Madras (Prof. T. Asokan)
IIT Delhi (Prof. S. K. Saha and Prof. S. D. Roy)
IIT Roorkee (Prof. P. M. Pathak and Prof. M. F. Orlando)
IIT Guwahati (Prof. S. N. Joshi)
Video series as a part of "Kinematics of Serial Planar Manipulator" during "RoboAnalyzer-based Online Competition"
These are videos recorded in May-June 2021, primarily for RoboAnalyzer-baed Online Competition (ROC) participants. However, they are generic and can be picked up by anyone. These videos can be followed after Video no 15 of the above FDP video lectures.
1. Introduction to Forward and Inverse Kinematics of Serial Planar Manipulators (~11 min)
2. Forward Kinematics of 2R Planar Manipulator (~18 min)
3. MATLAB Program for Forward Kinematics of 2R Planar Manipulator (~26 min)
4. Forward Kinematics of 3R Planar Manipulator (~12 min)
5. MATLAB Program for Forward Kinematics of 3R Planar Manipulator (~31 min)
6. Inverse Kinematics of 2R Planar Manipulator (~47 min)
7. MATLAB Program for Inverse Kinematics of 2R Planar Manipulator (~37 min)
8. Inverse Kinematics of 3R Planar Manipulator (~21 min)
9. MATLAB Program for Inverse Kinematics of 3R Planar Manipulator (~23 min)
10. Motion Planning of 2R Planar Manipulator and Animation in MATLAB and RoboAnalyzer (~78 min)
Videos on Virtual Robot Module (VRM) in RoboAnalyzer
a. Joint and Cartesian Jogging in Virtual Robot Module (VRM) in RoboAnalyzer (~11 minutes)
b. Cartesian Motion, Record and Playback in in Virtual Robot Module (VRM) in RoboAnalyzer (~13 minutes)
c. MATLAB Program for End-Effector Motion and Import in Virtual Robot Module (VRM) in RoboAnalyzer (~60 minutes)
1. Introduction to Forward and Inverse Kinematics of Serial Planar Manipulators (~11 min)
2. Forward Kinematics of 2R Planar Manipulator (~18 min)
3. MATLAB Program for Forward Kinematics of 2R Planar Manipulator (~26 min)
4. Forward Kinematics of 3R Planar Manipulator (~12 min)
5. MATLAB Program for Forward Kinematics of 3R Planar Manipulator (~31 min)
6. Inverse Kinematics of 2R Planar Manipulator (~47 min)
7. MATLAB Program for Inverse Kinematics of 2R Planar Manipulator (~37 min)
8. Inverse Kinematics of 3R Planar Manipulator (~21 min)
9. MATLAB Program for Inverse Kinematics of 3R Planar Manipulator (~23 min)
10. Motion Planning of 2R Planar Manipulator and Animation in MATLAB and RoboAnalyzer (~78 min)
Videos on Virtual Robot Module (VRM) in RoboAnalyzer
a. Joint and Cartesian Jogging in Virtual Robot Module (VRM) in RoboAnalyzer (~11 minutes)
b. Cartesian Motion, Record and Playback in in Virtual Robot Module (VRM) in RoboAnalyzer (~13 minutes)
c. MATLAB Program for End-Effector Motion and Import in Virtual Robot Module (VRM) in RoboAnalyzer (~60 minutes)