Robot Kinematics: Forward & Inverse Introduction for Beginners

hi this is a series of video lectures related to learning robot kinematics

using robo-analyzer as a part of robo analyzer based online computation roc

contents of video one on 10 and this is as i mentioned it is part of rob analyzer

based online competition okay so let me get started with today's lecture on

introduction to robot kinematics so i am going to start using my digitizer so please make sure you also

write down whatever i write here introduction to robot

kinematics ok so this is a series of lecture so let me just give

a very brief overview of what are the different topics we have we have a robot and we

have kinematics a robot is basically a device

that can carry out tasks okay so obviously when we want it to carry

out tasks it will definitely have motion okay so what is kinematics

kinematics is basically study of motion okay so when we say robot kinematics

that means study of motion of robots okay so without break within bracket what i'll write is study of motion

without considering the forces causing the motion

or caused due to motion okay so that is what is kinematics now let us look at different types of

robots very briefly so they can be clarified as moving base

or fixed base under moving base you can have various categories like

aerial okay then under water then mobile robots or wheeled robots

so on and so forth under fixed base will have parallel robots

and serial robots okay so in this set of uh lectures we'll be focusing

more on the serial robots okay for other types of robots there are

topics that are available and these are usually kind of advanced topics so typically in a

undergraduate or post graduate mechanical engineering based robotics course we always start with

serial robots now the serial robots are basically something which have

one fixed link and then we have a set of links that are connected in series okay so these are the links

we call links and what we have here are known as joints

okay now obviously i'll just hurry up here because i don't want to have too long

videos so what do we deal with forward kinematics of serial robots if kin stands for forward

kinematics of serial planar manipulators

okay or planar serial manipulators depending on how you write that down

okay so in this rest of the video we'll be looking at what is forward kinematics very briefly and what is inverse

kinematics okay let us take a scenario of i have a simple robot like this

so there is a simple robot which has two links and two joints and let us assume i have a point here

okay let us give that some name p and if we have a coordinate system here x y so obviously the point p

will have two coordinates along x i'll call it as p x and along y

we'll call it as p y so if we know individual joint values so for example

in this particular case we'll understand what it is so let me give some angle here say let's

say theta 1 and i'll extend this link and i'll say give this angle as

theta 2 if theta 1 and theta two are given

determine p x and p y ok so when we do this we call it as

forward kinematics that means we are going in the forward direction from the base to the

tip so at that tip p is known as end effector point or sometimes it is also known as

pose we will come to that later ok now obviously when we have something known as

fkin we should also have ik that is inverse kinematics ok so what does inverse kinematics mean

that means if p x and p y

are given determine theta 1 and theta 2

okay so when we do this we call it as inverse kinematics obviously you may be wondering why is it

so important obviously it is important because whenever we want robot to move

we would be using inverse kinematics and forward kinematics to perform the motion okay so this is a very brief

overview of what is fkin ikit and in the remaining videos let me just very quickly

go through so in the video 1 we have covered inverse kinematics and forward

kinematics introduction and in video 2 we'll have we'll take up a 2r

planar manipulator analytical method in the video three we will also introduce you to matlab

and octave which is a free version or alternative of matlab and then we'll see how to write matlab

program for for kinematics of 2r planar manipulator then we look at forward kinematics of planar

3r manipulator which can be solved using analytical method again we will be looking at

the matlab program for yeah so this should be 3r so it will be matlab program for

3r planar manipulator then we look at inverse kinematics of planar 2r

it can be solved in analytical as well as geometric method then we look at the matlab program

then again formulation for inverse kinematics of planar 3r manipulator and the corresponding matlab program

and finally we will also see how to export data from matlab or octave for motion planning

purposes we will try to draw some circles or straight lines here

and then we can import these trajectory in row analyzer and then perform animation okay

so a very brief about again robo analyzer based online competition so this is the organizing committee

comprising of myself rajiv lochna and some of these videos are extension

of the other videos that are found on our robonalyzer website if you go to robonalyzer website

so you will see video lectures link so these are the earlier videos that have been created in another

event so the videos that i am going to record right now will also come in the same page

okay and very brief about myself my name is rajiv and i'm an assistant professor

in the amrita school of engineering in bangalore i've been associated with the

development of robonaut laser software since i did my ms research at iit delhi the software has been developed under

the able guidance of professor subhir kumar saha and please

try to go through all the videos in these series and hopefully it will help thank you