Screw Motion and Exponential Coordinates of Robot Motions

Screw Motion and Exponential Coordinates of Robot Motions

This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the configurations, velocities, and forces causing the motion, please read the following lessons (note that more lessons will be added in the future): https://www.mecharithm.com/category/fundamentals-of-robotics/fundamentals-of-robot-motions/ Also, reading some lessons from the base lessons of the Fundamentals of Robotics course are deemed invaluable. In this lesson, we will see an introduction to screw motion in robotics, and we will also see how we can define exponential coordinates for robot motions. This is…
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Upper-limb Rehabilitation Robotics

Upper-limb Rehabilitation Robotics

You may have already heard about rehabilitation, or you may have used some of the services in the past, or the first thing that comes to your mind is Britney Spears. But whatever you've already had in your mind, rehabilitation refers to enhancing or restoring the movement and quality of life for people with disabilities or other impairments due to diseases or injury. By definition, rehabilitation refers to helping restore movement and function to people with disabilities caused by diseases or injury. However, doing repetitive tasks for long periods of time is daunting and less intensive than needed for proper…
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Other Explicit Representation for the Orientation in Robotics: Euler Angles

Other Explicit Representation for the Orientation in Robotics: Euler Angles

In the lesson about the degrees of freedom of a robot, we learned that there are at least three independent parameters needed to express the orientation of a rigid body. In the previous lesson, we learned about the exponential coordinate representation for the orientation that is a three-parameter representation for a rotation matrix R, and parameterizes the rotation matrix using a unit axis of rotation and the angle of rotation about this axis. There are also other explicit representations that are useful in different applications when dealing with orientations. In this lesson, we will talk about Euler Angles and will…
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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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