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IMPORTANT: All the materials are proprietary to Dr. Madi Babaiasl and Saint Louis University. You are encouraged to use them for educational purposes with proper attribution to the main source.

Note: Robotics instructors, please reach out to me using your official school email to request access to exam questions, diagnostic tests, quizzes, and other learning resources.

Welcome to the Kinematics of Robotic Manipulators: a Modern Approach wiki. Click on the links from the menu to start learning! The Table of Contents below presents a chronological arrangement of materials covered throughout this course.

Before You Begin: Setting Up Ubuntu 22.04 for ROS2 Robotics Development

Before You Begin: Installing Python and the Code Editor

Prerequisite: Introduction to Python Programming with Emphasis on Robotics Applications

Prerequisite: Introduction to Robot Operating System ROS2

Lesson 1: Introduction

Class Activity 1: Introducing the PincherX 100 Robot Arm and Vision Kit

Class Activity 2: ROS2 Humble Interface Installation & Running the Robot in Simulation & Reality

Class Activity 3: Working with Python‐ROS API and a Simple Pick‐and‐Place Task

Lesson 2: Degrees of Freedom DOF in Robotics

HW1: Exploring DOFs and Joint Types in the PincherX 100 Robot Arm plus DOFs Practice Questions

Lesson 3: Orientation in Robotics ‐ Rotation Matrices

HW2: Tool Orientation of PincherX 100 Robot Arm Using Rotation Matrices and Some Practice Questions

Lesson 4: Orientation in Robotics ‐ Exponential Coordinates, and Euler Angles

HW3: Tool Orientation of PincherX 100 Robot Arm Using Exponential Coordinates and Some Exercise Questions

Lesson 5: Pose in Robotics ‐ Homogeneous Transformation Matrices

HW4: Pincherx 100 Robot Arm's Pose in Its Zero Position and Transformation Matrices for Kinova's Gen3 Robot Arm

Lesson 6: Pose in Robotics ‐ Exponential Coordinates of Robot Motions

HW5: Pose in Robotics ‐ Exponential Coordinates of Robot Motions

Lesson 7: Forward Kinematics of Robot Arms Using Screw Theory

HW6: PincherX 100 and Kinova's Gen 3 6DOF Robot Arms' Forward Kinematics Using Screw Theory

Lesson 8: Robot Velocities ‐ Angular Velocities & Twists

Lesson 9: Robot Velocity Kinematics Using Screw Theory ‐ Jacobian Matrix

Project 1: Computation of PincherX 100 End‐effector Twist Using ROS 2 Utilities and The Derived Jacobian ‐ Did someone say a dancing robot arm?

Lesson 10: Robot Inverse Kinematics Using Screw Theory ‐ Analytical and Numerical Approaches

Project 2 ‐ Part 1: Inverse Kinematics of the PX100 robot arm Using both Geometric and Numerical Approaches

Project 2 ‐ Part 2: Vision‐Aided Numerical Inverse Kinematics of the PX100 Robot Arm