Page Index - madibabaiasl/kinematics-robotic-arms-modern-approach GitHub Wiki

79 page(s) in this GitHub Wiki:

• Home
• 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
• Before You Begin: Installing Python and the Code Editor
• Please reload this page
• Before You Begin: Setting Up Ubuntu 22.04 for ROS2 Robotics Development
• Please reload this page
• Class Activity 1: Introducing the PincherX 100 Robot Arm and Vision Kit
• Please reload this page
• Class Activity 2: ROS2 Humble Interface Installation & Running the Robot in Simulation & Reality
• Please reload this page
• Class Activity 3: Working with Python‐ROS API and a Simple Pick‐and‐Place Task
• Please reload this page
• HW1: Exploring DOFs and Joint Types in the PincherX 100 Robot Arm plus DOFs Practice Questions
• Please reload this page
• HW2: Tool Orientation of PincherX 100 Robot Arm Using Rotation Matrices and Some Practice Questions
• Please reload this page
• HW3: Tool Orientation of PincherX 100 Robot Arm Using Exponential Coordinates and Some Exercise Questions
• Please reload this page
• HW4: Pincherx 100 Robot Arm's Pose in Its Zero Position and Transformation Matrices for Kinova's Gen3 Robot Arm
• Please reload this page
• HW5: Pose in Robotics ‐ Exponential Coordinates of Robot Motions
• Please reload this page
• HW6: PincherX 100 and Kinova's Gen 3 6DOF Robot Arms' Forward Kinematics Using Screw Theory
• Please reload this page
• Lesson 10: Robot Inverse Kinematics Using Screw Theory ‐ Analytical and Numerical Approaches
• Please reload this page
• Lesson 1: Introduction
• Please reload this page
• Lesson 2: Degrees of Freedom DOF in Robotics
• Please reload this page
• Lesson 3: Orientation in Robotics ‐ Rotation Matrices
• Please reload this page
• Lesson 4: Orientation in Robotics ‐ Exponential Coordinates, and Euler Angles
• Please reload this page
• Lesson 5: Pose in Robotics ‐ Homogeneous Transformation Matrices
• Please reload this page
• Lesson 6: Pose in Robotics ‐ Exponential Coordinates of Robot Motions
• Please reload this page
• Lesson 7: Forward Kinematics of Robot Arms Using Screw Theory
• Please reload this page
• Lesson 8: Robot Velocities ‐ Angular Velocities & Twists
• Please reload this page
• Lesson 9: Robot Velocity Kinematics Using Screw Theory ‐ Jacobian Matrix
• Please reload this page
• Prerequisite: Introduction to Python Programming with Emphasis on Robotics Applications
• Please reload this page
• Prerequisite: Introduction to Robot Operating System ROS2
• Please reload this page
• Project 1: Computation of PincherX 100 End‐effector Twist Using ROS 2 Utilities and The Derived Jacobian ‐ Did someone say a dancing robot arm?
• Please reload this page
• Project 2 ‐ Part 1: Inverse Kinematics of the PX100 robot arm Using both Geometric and Numerical Approaches
• Please reload this page
• Project 2 ‐ Part 2: Vision‐Aided Numerical Inverse Kinematics of the PX100 Robot Arm
• Please reload this page