Robotics [05/14] 2025/11/05.

Описание: Subject Robotics (RBT)
School Graduate School of Information, Production and Systems (IPS), Waseda Univ
Term 2025 Fall semester
Lecturer Prof. Takafumi MATSUMARU
Section 09. Fundamental theory of manipulator (1)
1. Kinematics 運動学 and Dynamic 動力学 in manipulator.
1.1. Kinematics 運動学 and Dynamic 動力学.
1.2. Description of manipulator configuration 構造 and movement 運動.
1.3. Basics on vector operation and differential operation.
2. Forward kinematics 順運動学 (1).
2.1. Cartesian coordinate system.
2.2. Local coordinate system indicating link orientation.
2.3. Coordinate transformation at rotation joint.
a) To calculate each joint position: rotation joint, prismatic joint.
2.4. Procedure of forward kinematics about position (from joints to end-tip).
2.5. Setting of reference posture and local coordinate system.
a) Ex.) Articulated (multi-joint) manipulator 多関節マニピュレータ.
2.6. Multiple rotation joint in serial link mechanism.
2.7. To calculate each joint position.
a) Ex.) Articulated (multi-joint) manipulator 多関節マニピュレータ.
b) Joint position of articulated (multi-joint) manipulator.
c) Joint orientation of articulated (multi-joint) manipulator.
2.8. Local coordinate system and base coordinate system.
2.9. Ex.) Industrial robot arm (4 type, 3 DoF) --- Forward kinematics.
2.10. D-H (Denavit–Hartenberg) parameters.

Links
Syllabus https://www.wsl.waseda.jp/syllabus/JA...
Board-writing https://matsumaru.w.waseda.jp/materia...

Keyword Robotics, Mechatronics, Informatics, Physical body, Hardware, Mechanics, Mechanism, Kinematics, Structure, Configuration, Feedback control, Sensor and Actuator, Industrial robot, Personal robot, Field robot, Medical robot, Welfare robot, Operation, Manipulation, Teleoperation, XR = VR / AR / MR, Engineering application, Modeling and formulation, Multifaceted thinking, Positive action, Active study, Flipped class, Theory and Practice, Actual experience, Takafumi Matsumaru, Waseda University, Graduate School of Information Production and Systems (IPS), Bio-Robotics and Human-Mechatronics laboratory (BRHM lab),
https://sem-matsumaru.w.waseda.jp/
https://matsumaru.w.waseda.jp/
   / @brhmlabwaseda919  

Copyright Takafumi Matsumaru, Waseda University, Graduate School of Information Production and Systems (IPS), Bio-Robotics and Human-Mechatronics laboratory (BRHM lab),
https://sem-matsumaru.w.waseda.jp/
https://matsumaru.w.waseda.jp/
   / @brhmlabwaseda919