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16-384 Robot Kinematics and Dynamics

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Episodes

  1. Lecture 13c: Dynamics Robot Example

  2. Lecture 08b: Numerical IK - Gradient Descent

  3. Lecture 08c: Numerical IK - Trajectories

  4. Lecture 02c: Rotation Matrices - Composition

  5. Lecture 02b: Rotation Matrices - Similarity Transform

  6. Lecture 03b: Homogeneous - Properties and Examples

  7. Lecture 05c: Denavit-Hartenberg - Construction

  8. Lecture 05d: Denavit-Hartenberg - Summary

  9. Lecture 05a: Denavit-Hartenberg - Motivation

  10. Lecture 05b: Denavit-Hartenberg - Parameters

  11. Lecture 04a: Intro to Forward Kinematics - Robot Workspace

  12. Lecture 04b: Intro to Forward Kinematics - Frame Assignment

  13. Lecture 03a: Intro to Homogeneous Transformations

  14. Lecture 01a: Degrees of Freedom

  15. Lecture 01b: Intro to Rotation Matrices

  16. Lecture 02a: Rotation Matrices - Interpretations

  17. Lecture 02d: Rotation Matrices - Parameterizations

  18. Lecture 08a: Inverse Kinematics - PUMA

  19. Lecture 09c: Adding Angular Velocities

  20. Lecture 09a: Skew Symmetric Matrices

  21. Lecture 09e: Intro to Differential Kinematics

  22. Lecture 12b: Statics

  23. Lecture 12c: Statics Example

  24. Lecture 12d: Force Manipulability

  25. Lecture 10b: Jacobian Examples

  26. Lecture 09b: Angular Velocities

  27. Lecture 09d: Linear Velocities

  28. Lecture 14a: Dynamics of Rigid Bodies

  29. Lecture 14b: Standard Form

  30. Lecture 14c: State Space Form

  31. Lecture 14d: Friction

  32. Course Introduction

  33. Lecture 12a: Manipulability

  34. Lecture 11b: Singularities

  35. Lecture 13b: Dynamics Point Mass Examples

  36. Lecture 13a: Introduction to Dynamics

  37. Lecture 10a: Deriving the Jacobian

  38. Lecture 11a: Inverse Differential Kinematics

  39. Lecture 07d: Inverse Kinematics - Elbow and Spherical Wrist

  40. Lecture 07c: Inverse Kinematics - SCARA Arm

  41. Lecture 06c: DH Examples - Cylindrical Robot and Spherical Wrist

  42. Lecture 06b: DH Examples - Planar RR and RPR Arms

  43. Lecture 06d: DH Examples - Denso, Stanford, SCARA

  44. Lecture 06a: DH Examples - Review

  45. Lecture 07b: Inverse Kinematics - Kinematic Decoupling and Planar RRR Arm

  46. Lecture 07a: Inverse Kinematics - Planar RR Arm

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CATEGORIES

education

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