UC Berkeley Mechatronics with LabVIEW



hello my name is Jason wilkinson in the next video you're going to see is really interesting but to understand why it's interesting you have to understand a little bit about robotics and that's why I am here so I took a class on robotics back in college about seven or eight years ago and I forgot almost all of it so I had to go back and read up a little bit but what I read about made the video a little bit more interesting so to start off with we need a little bit of vocabulary and I'm gonna use my arm to compare the two compared to the robot because that's probably the easiest way to understand it the robot that you're going to see in the video has about maybe three or four different links to it and joints on it and joints are kind of like our arms so if we assume the end of the robot of the tip is called an end effector that could be my hand so if I pull out my hand I can even see that as my my hand has a certain position in space and this is the location of the end effector on a robot and calculating that location is done through a variety of means you can if you wanted to if you had a bunch of joint values if I my arm is shaped like this I can figure out the joint values of my elbow and my wrist and other places and figure out the location of my hand in space but if I wanted to make my hand go to a certain place in space without without what knowing the pathetic positions I would actually have to back calculate the position in space and then then back calculate each of these joints and that's how a computer needs to tell a robot where to go so in order to do that you need something called inverse kinematics inverse kinematics takes the position in space that you want to go that desired position and back calculates each of the joint values now this is a fairly complicated process but you can see our brain does it fairly easy if I want to keep my hand and the same in the same spots or on the same plane my each of my joints needs to calculate the location of that spot but uh for a computer to do that you need a whole lot of math now the next video they're going to see actually shows a robot that they have done all the calculations and it actually draws something on a chalk board and that's why it's cool and uh I guess here's the here's the video

One Comment

  1. Nerol67 said:

    Uh huh… he said joint value uh huh..

    June 28, 2019
    Reply

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