CS223A - Introduction to Robotics
Lecture 4 - Manipulator Kinematics
Course Details
Show AllInstructor
Khatib, Oussama
Khatib's current research is in human-centered robotics, human-friendly robot design, dynamic simulations, and haptic interactions. His exploration in this research ranges from the autonomous ability of a robot to cooperate with a human to the haptic interaction of a user with an animated character or a surgical instrument. His research in human-centered robotics builds on a large body of studies he pursued over the past 25 years and published in over 200 contributions in the robotics field.
Prof. Khatib was the Program Chair of ICRA2000 (San Francisco) and Editor of ``The Robotics Review'' (MIT Press). He has served as the Director of the Stanford Computer Forum, an industry affiliate program. He is currently the President of the International Foundation of Robotics Research, IFRR, and Editor of STAR, Springer Tracts in Advanced Robotics. Prof. Khatib is IEEE fellow, Distinguished Lecturer of IEEE, and recipient of the JARA Award.
Handouts
| Course Introduction | Lecture 1 |
| Kinematics-1 | Lecture 1-3 |
| Kinematics-2 | Lectures 4-5 |
| Jacobian | Lectures 6-8 |
| Robots and Vision | Lecture 9 |
| Trajectory Planning | Lecture 10 |
| Dynamics | Lectures 11-12 |
| Control | Lectures 13-15 |
Assignments
| Assignment 1 | Lecture 3 |
| Assignment 2 | Lectures 4-5 |
| Assignment 3 | Lectures 6-8 |
| Assignment 4 | Lectures 8-10 |
| Assignment 5 | Lectures 11-13 |
| Assignment 6 | Lectures 14-15 |
Course Sessions (16):
Show AllLecture 1
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Duration: | |
| Watch Now | Download | 58 min* | |
| Topics: Course Overview, History of Robotics Video, Robotics Applications, Related Stanford Robotics Courses, Lecture and Reading Schedule, Manipulator Kinematics, Manipulator Dynamics, Manipulator Control, Manipulator Force Control, Advanced Topics | |||
| * Segments of this lecture have been edited out due to copyright restrictions. | |||
Transcripts
Lecture 2
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Duration: | |
| Watch Now | Download | 1 hr 8 min | |
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Topics: Spatial Descriptions, Generalized Coordinates, Operational Coordinates, Rotation Matrix, Example - Rotation Matrix, Translations, Example - Homogeneous Transform, Operators, General Operators Video clip “GH Walking Machines: Passive Walking,” Tad McGreer, Fraser Univ. British Columbia, ICRA 1991 Video Proceedings, courtesy IEEE. |
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Lecture 3
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| Watch Now | Download | 1 hr 17 min | |
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Topics: Homogeneous Transform Interpretations, Compound Transformations, Spatial Descriptions, Rotation Representations, Euler Angles, Fixed Angles, Example - Singularities, Euler Parameters, Example - Rotations Video clip “Flexible Microactuator,” Toshiba, ICRA 1991 Video Proceedings courtesy IEEE
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Lecture 5
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| Watch Now | Download | 1 hr 7 min | |
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Topics: Summary - Frame Attachment, Example - RPRR Manipulator, Stanford Scheinman Arm, Stanford Scheinman Arm - DH Table, Forward Kinematics, Stanford Scheinman Arm - T-Matrices, Stanford Scheinman Arm - Final Results Video clip “Brachiation Robot,” Nagoya University, ICRA 1993 Video Proceedings courtesy IEEE
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Lecture 6
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| Watch Now | Download | 1 hr 11 min | |
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Topics: Instantaneous Kinematics, Jacobian, Jacobians - Direct Differentiation, Example 1, Scheinman Arm, Basic Jacobian, Position Representations, Cross Product Operator, Velocity Propagation, Example 2 Video clip “Locomation Gates with Polypod,” Mark Yim, Stanford University, ICRA 1994 Video Proceedings courtesy IEEE
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Lecture 7
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| Watch Now | Download | 1 hr 9 min | |
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Topics: Jacobian - Explicit Form, Jacobian Jv / Jw, Jacobian in a Frame, Jacobian in Frame {0}, Scheinman Arm, Scheinman Arm - Jacobian, Kinematic Singularity Video clip “Beach Volleyball,” Toshiba, ICRA 1999 Video Proceedings courtesy IEEE
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Lecture 8
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| Watch Now | Download | 1 hr 15 min | |
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Topics: Scheinman Arm - Demo, Kinematic Singularity, Example - Kinematic Singularity, Puma Simulation, Resolved Rate Motion Control, Angular/Linear - Velocities/Forces, Velocity/Force Duality, Virtual Work, Example Video clip “Mobile Robots: Automatic Parallel Parking,” INRIA, ICRA 1999 Video Proceedings courtesy IEEE
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Lecture 9
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Duration: | |
| Watch Now | Download | 1 hr 16 min | |
| Topics: Intro - Guest Lecturer: Gregory Hager, Overview - Computer Vision, Computational Stereo, Stereo-Based Reconstruction, Disparity Maps, SIFT Feature Selection, Tracking Cycle, Face Stabilization Video, Future Challenges | |||
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Lecture 10
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Duration: | |
| Watch Now | Download | 1 hr 2 min* | |
| Topics: Guest Lecturer: Krasimir Kolarov, Trajectory Generation - Basic Problem, Cartesian Planning, Cubic Polynomial, Finding Via Point Velocities, Linear Interpolation, Higher Order Polynomials, Trajectory Planning with Obstacles | |||
| * Segments of this lecture have been edited out due to copyright restrictions. | |||
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Lecture 11
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| Watch Now | Download | 1 hr 14 min | |
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Topics: Joint Space Dynamics, Newton-Euler Algorithm, Inertia Tensor, Example, Newton-Euler Equations, Lagrange Equations, Equations of Motion Video clip “Robotic Reconnaissance Team,” U of Minnesota, ICRA 2000 Video Proceedings courtesy IEEE
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Lecture 12
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| Watch Now | Download | 1 hr 14 min | |
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Topics: Lagrange Equations, Equations of Motion, Kinetic Energy, Equations of Motion - Explicit Form, Centrifugal and Coriolis Forces, Christoffel Symbols, Mass Matrix, V Matrix, Final Equation of Motion Video clip “Space Rover,” EPFL, Switzerland, ICRA 2000 Video Proceedings courtesy IEEE
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Lecture 13
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| Watch Now | Download | 1 hr 10 min | |
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Topics: Control - Overview, Joint Space Control, Resolved Motion Rate Control, Natural Systems, Dissipative Systems, Example, Passive System Stability Video clip “Juggling Robot,” Dan Koditschek, U of Michigan, ISRR 1993 Video Proceedings courtesy IEEE
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Lecture 14
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| Watch Now | Download | 1 hr 13 min | |
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Topics: PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia Video clip “A Finger-Shaped Tactile Sensor Using an Optical Waveguide,” H. Maekawa et al., MEL, AIST-MITI, Tsukuba, Japan, ICRA 1993 Video Proceedings courtesy IEEE
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Lecture 15
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Duration: | |
| Watch Now | Download | 1 hr 12 min | |
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Topics: Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking Video clip “On the Run,” Marc Raibert, MIT, ISRR 1993 Video Proceedings courtesy IEEE
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