The Future with Robots, AI, and Automation

The Future with Robots, AI, and Automation

Are you afraid that you lose your job to a robot, AI, or automation? Do you have questions about what the future will be like with current advances in technology? Do you concern about ethics when robots enter our world? If you have any of these questions, do not forget to watch Dr. Madi's discussion with the Roboticist, Michael Overstreet, on his YouTube Channel: https://www.youtube.com/watch?v=2kY8vlPv6qg Download the discussion presentation HERE! Download the free PDF of the talk containing more examples and an appendix of the professions and the degree to which they are susceptible to automation HERE. Do not forget…
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Task Space and Workspace for Robots

Task Space and Workspace for Robots

In this post, you will learn about the task space and workspace for robots and understand their difference with the robot's C-space. You can find a comprehensive post about the C-space of the robot HERE. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. We saw before that the robot's C-space is the space of all possible configurations of a robot. But what does task space and workspace mean for robots? If you want to learn about task space and workspace,…
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Holonomic vs. Nonholonomic Constraints for Robots

Holonomic vs. Nonholonomic Constraints for Robots

In this post, you will learn that holonomic or configuration constraints reduce the degrees of freedom (dofs) of a robot, whereas nonholonomic constraints reduce the space of possible velocities. ⚠️ This post also has a video version that complements the reading. Our suggestion is to watch the video and then read the reading for a deeper understanding. Holonomic (Configuration) Constraints for Robots Let’s see this with an example. Remember our famous 4-bar linkage with one degree of freedom? If you do not, please refer to this lesson. For now, consider a 4-bar linkage that has 4 links (ground is a…
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Everything About the Degrees of Freedom of a Robot

Everything About the Degrees of Freedom of a Robot

In this post, you will learn ANYTHING that you've ever needed to know about the degrees of freedom of a robot. You will become familiarized with a general formula to find the degrees of freedom of any mechanism, not just robotic arms. The degrees of freedom of a robot is the dimension of the robot's C-space, which is the minimum number of real numbers needed to represent the robot's configuration. As we saw in the previous post, the robot's configuration is our answer to the question where is the robot? And we also saw different ways to represent the configuration…
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Configuration and Configuration Space (Topology and Representation) of a Robot

Configuration and Configuration Space (Topology and Representation) of a Robot

This is the second lesson on Fundamentals of Robotics, and it will be your guide to know everything you have ever needed to know about the configuration and configuration space (its topology and representation) of a robot. In this lesson, we will talk about the configuration of the robot. Then, the configuration space and topology of the configuration space will be discussed, and finally, we will talk about different ways to represent the configuration space. What is the Configuration of Something? The configuration of something answers the question, where is that thing? For example, to know where a door is,…
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Fundamentals of Robotics: Introduction

Fundamentals of Robotics: Introduction

This is the first post of the series of Fundamentals of Robotics course that provides an introduction to the course and some introductory remarks on Robotics. The course will cover all the fundamentals of robotics, including kinematics, mechanics, planning, and control. This course is needed because, in most robotics classes, only part of the fundamentals are covered, and advanced topics such as planning and control are usually neglected. To learn robotics efficiently, all of these topics should be covered in tandem, and neglecting each part will hinder the learning. We will use free robot simulators to implement most of the…
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Implementing Dynamics and Control of a Quadrotor in MATLAB

Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…
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Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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Fuzzy PID Control of a 6-DOF Parallel robot

Fuzzy PID Control of a 6-DOF Parallel robot

In this report, you will learn about the Fuzzy PID Control of a 6-DOF Parallel robot. So, if you are interested in learning about the control of parallel robots, keep reading. Note: The contributors of this project are Madi Babaiasl, Seyyed Hamed Mahdioun, Askar Azizi, and Mehdi Dehghani Abstract Because of the sophisticated structure, parallel manipulators -unlike serial ones- have special characteristics that make them suitable for the tasks in which higher speed and acceleration with precision are required. Identifying the real geometrical parameters in the kinematic structure of a parallel robot (calibration) and simple and accurate Control method are…
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Viscoelastic Characteristics of Porcine Liver

Viscoelastic Characteristics of Porcine Liver

In this post, viscoelastic characteristics of porcine liver are measured using rheological experiments. These data were needed for needle insertion experiments. The contributors of this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. Sample Preparation for Rheological Tests Porcine liver was obtained from the WSU's meat science lab right after slaughter to avoid the changing of tissue properties. No authorization or approval was required since the liver was qualified to be food. The liver is then put in the 0.9% Sodium Chloride solution (9g NaCl was dissolved in 700 ml water in clean container…
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