Lecture 1 - Robotics Principles

Kinematic chain (open / closed)
Serial vs. Parallel manipulator
Stewart platform 6 chains 6 DoF | Delta 3 chains to ground
Serial: Workspace
Parallel: Payload, Precision, Speed
Kinematics, Kinetics, Dynamics
Task -> Cartesian, Joint -> $θ$ , Actuator -> $F, T$
Slow $\approx$ kinematic
Task -> Joint -> Actuator
Inverse Dynamics -> Motor sizing and power train design
Revulute joint
Multiple solutions
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Fixed wing -> aerodynamics, efficient, needs release and landing
Multi-rotor -> vertical landing/take off, less efficient
Control -> kinematic and dynamic analysis
Parallel, Forward -> Singularity
Serial, Reverse -> Singularity
Robotic arm variations (SCARA, $Δ$ )