11. Robot Arm Kinematics

11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
11. Robot Arm Kinematics
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2 MB|34 pages
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Product Description
Overview of Forward and Inverse Kinematics
- Existing Packages: KDL, TracIK, IKFast, Self-Derived Models

Forward Kinematics
- FKs using DH Params
- 2 DoF revolute robot (C++)
- URDF joint/link definitions for DH conventions
- Defining the flange
- DH definition in C++
- Library for Kinematic Computation
- Applications: ABB, UR, Baxter, Nasa robot

Inverse Kinematics
- Geometric Approach (2DOF, 6DOF)
- C++ node, gazebo simulation
- Analytic Approach (6DOF)
- - C++ node, gazebo simulation
- Redundant robots
Total Pages
34 pages
Answer Key
N/A
Teaching Duration
3 hours
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