Velocities in Robotics: Angular Velocities & Twists | Fundamentals of Robotics | Lesson 16
Ғылым және технология
🌟 Contents 🌟
💎 (00:00) Introduction
💎 (01:57) Angular Velocities in Robotics
💎 (02:59) Angular Velocity Concept Demo
💎 (06:06) Expressing the Angular Velocity Relative to Different Coordinate Frames
💎 (11:43) Angular Velocities Example: Pepper Robot's Elbow Motion
💎 (12:39) Angular Velocities Example: Changing the Reference Frame
💎 (14:19) Twists in Robotics
💎 (25:20) Twists Example: Changing the Reference Frame
💎 (26:17) Twists Example: A one-degree-of-freedom planar robot arm motion
💎 (29:34) Twists Example: A kid spinning on a merry-go-round
In this lesson, we will become familiar with the concept of velocities in robotics, and we will study angular velocities and twists. This lesson is part of the series of lessons on foundations necessary to express robot motions.
This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
www.mecharithm.com/velocities...
Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.
Thanks for watching! We'd love to have you as a part of the Mecharithm family👇
linktr.ee/mecharithm
References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video).
©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source.
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Пікірлер: 22
( THANKS EVERHITINGG....)
what is the meaning of integrate constant twist over time?
she looks good
thank you for the video, suggest a better microphone to improve the audio quality and reduce the high pitch clipping
@mecharithm-robotics
Жыл бұрын
Thanks for the feedback; we definitely listened to you and improved the sound quality.
how do we calculate psb ?
@mecharithm-robotics
Жыл бұрын
Criton, it’s a good question. p_sb is the vector from the origin of the space frame to the origin of the body frame. So, it’s basically the origin of the b frame expressed in s frame. If the origin of the s frame is (0,0,0) as reference, then p_sb = (d,e,f) is basically going d units in x_s direction, e units in y_s direction and f units in z_s direction. Hope this answers your question.
Very good!
@mecharithm-robotics
2 жыл бұрын
Thank you!
@ahmadkamalnasir6290
2 жыл бұрын
@@mecharithm-robotics Waiting for your next video :)
Hii I am 8th class
@mecharithm-robotics
2 жыл бұрын
Shriaj, welcome!
In example how you calculate, -R^T [p_sb] as p is 3 by 1 and it should gives answer of 3 by 1 matrix. So how P_sb is converted to 3 by 3?
@mecharithm-robotics
9 ай бұрын
bracket notation is the 3 by 3 skew-symmetric matrix representation of a vector. you can find this matrix definition in this lesson: github.com/madibabaiasl/modern-robotics-I-course/wiki/Lesson-4:-Orientation-in-Robotics-(Exponential-Coordinates,-and-Euler-Angles)
@user-wh9hv9fr9z
9 ай бұрын
@@mecharithm-robotics Thanks a lot for this great lecture and quick reply. It was really very helpful 👏
From India
@mecharithm-robotics
Жыл бұрын
Welcome!
Thank you so much Professor Ma'm. This is very helpful and informative
@mecharithm-robotics
2 жыл бұрын
Thank you for your feedback! Very glad that it is helpful.
@sarahvyadav5906
2 жыл бұрын
@@mecharithm-robotics 8
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