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1、IntroductionToRobotics-Lecture01Instructor(OussamaKhatib):Okay.Let’sgetstarted.Welcometointrotorobotics2008.Happynewyear,everyone.Inintroductiontorobotics,wearegoingtoreallycoverthefoundationsofrobotics.Thatis,wearegoingtolookatmathematicalmodelsthatr
2、epresentroboticsystemsinmanydifferentways.Infact,youjustsawasimulationofahumanoidroboticsystemthatwearecontrollingatthesametime.Ifyouthinkaboutamodelthatyouaregoingtouseforthesimulation,youneedtorepresentthekinematicsofthesystem.Youneedalsotobeabletoa
3、ctuatethesystembygoingtothemotorsandfindingtherighttorquestomaketherobotmove.Hereisarobotyouwouldliketocontrol.Thequestionishowcanwereallycomeupwithawayofcontrollingthehandstomovefromonelocationtoanother?Ifyouthinkaboutthisproblem,therearemanydifferen
4、twaysofcontrollingtherobot.Firstofall,youneedtoknowwheretherobotis,andtoknowwheretherobotis,youneedsomesensors.Whatkindofsensorswouldyouhaveontherobottoknowwheretherobotis?GPS?Okay.HowmanyparameterscanyoumeasurewithGPS?Wecantrythat.Whatcanyoudetermine
5、withGPS?YouwilllocateXandYforthelocationoftheGPS.Buthowmanybodiesaremovinghere?WhenI’mmovingthishere,howmany[inaudible]aremoving?HowmanyGPSsystemsdoyouwanttoputontherobot?Wewouldneedabout47ifyouhave47degreesoffreedom,andthatwouldbetooexpensive.Another
6、idea?Encoders.Encodersmeasureonedegreeoffreedom,justliketheangle,andhowmanyencoderswouldweneedfor47degreesoffreedom?Forty-seven.Thatwillgiveyoutherelativeposition,butyouwillnotknowwhetherthisconfigurationishereorhere.YouneedaGPStolocateoneobjectandthe
7、nlocateeverythingwithrespecttoit.Anyotherideas?Byintegratingfromaninitialknownpositionorusingvisionsystemstolocateatleastoneortwoobjects.Thenyouknowwheretherobotis.Therelativeposition–thevelocitiescouldbedeterminedaswemove.Oncewelocatedtherobot,thenwe
8、needtosomehowfindawaytodescribewherethingsare.Whereistherighthand?Whereisthelefthand?Whatdoyouneedthere?Youneedtofindtherelationshipbetweenallthese[inaudible]bodiessothatoncetherobotisstanding,youknowwherethearmispositionedandwherethehandispos
