Fundamentals of Robotics: Wrenches

Fundamentals of Robotics: Wrenches

In the previous lesson, we learned that screws are geometric interpretations of twists, and they can be used to express configurations in robotics. This lesson is about spatial forces or wrenches in robotics. We will talk about wrenches in this lesson, which are 6-vector representations of forces and moments in robotics. We will also become familiar with how to change the frame of representation of a wrench.  This lesson is part of the series of lessons on foundations necessary to express robot motions. For a complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the…
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Screws: a Geometric Description of Twists in Robotics

Screws: a Geometric Description of Twists in Robotics

In the previous lesson, we learned about velocities in robotics. We became familiar with angular and linear velocities and saw that stacking them together gives us the twist. We also saw how we could change the frame of reference for angular velocities and twists. This lesson is about screws as a geometric interpretation for twists and how they can be used to express configurations in robotics. 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,…
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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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