Lecture1b

Lecture1b - 1 An Introduction to Manipulators ME 598A:...

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Unformatted text preview: 1 An Introduction to Manipulators ME 598A: Introduction to Robotics ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators ME 598A: Introduction to Robotics Spring 2010 * Most slides courtesy of Jonathan Fiene, University of Pennsylvania Manipulator Basics ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 2 General Terminology ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Joint Descriptions ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 3 Kinematic Chains ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Configuration Space ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 4 Degrees of Freedom ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Workspace ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 5 Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 6 Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 7 Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 8 Common Configurations ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Common Configurations Cartesian Manipulator (PPP) ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 9 Reachable Workspaces ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators Manipulator Kinematics ME 598A: INTRODUCTION TO ROBOTICS Introduction to Manipulators 10...
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Lecture1b - 1 An Introduction to Manipulators ME 598A:...

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