Welcome to the exciting world of robotics! This is a introductory course that will help you understand the modeling and control of robotic manipulators such as the one on the right. While this is not quite a biped robot, you have to keep in mind that each one of the bipeds legs and arms are not much different from one of these manipulators. Once you learn about the basics of a robot manipulator then we will cover how two or more manipulators can work together to achieve biped locomotion.

This lesson will cover the following

  1. Forward Kinematics and Link transformations
  2. The Kinematic Jacobian
  3. Inverse Kinematics
  4. The Disturbance Observer
  5. Position Control
  6. Force Control




Next: Forward Kinematics and Link transformations

 Posted by at 7:39 pm