Mechatronics 1
Week 2
Learning Outcomes
• By the end of this session, students will
understand constituents of robotics, robot
anatomy and what contributes in learning
its movement.
Course Outline
• Robot Anatomy
• Position & Orientation
• Coordinates used in learning its
movement.
Robotics
•
•
•
•
•
•
Mechanics
Control
Computer & Interfacing
Sensor & Actuator
Vision
Intelligence
PROBLEMS IN ROBOTICS
GOAL
Planning
Tactile
Vision
Dynamics
Trajectory
Control Systems :
Position, Velocity &
Forces
Kinematics
Industrial Robot
Link 3
Link 2
End Effector
Wrist
Link 1
Base
Kinematics
Learns about a robot movement in space
without taking into account any forces which
affect that movement.
• Position Vector
p 
  x
P   py 
 p z 
• Rotation Matrix
Rx ,
0
1
 0 cos 
0 sin 

 sin  
cos  
 sin  0
cos  0
0
1
Rz ,
cos 
  sin 
 0
0
Ry ,
 cos 
  0
 sin 
sin  
1
0 
0 cos  
0
Rotation Matrix
Z
Z
W
Rx ,
W
Ф
V
α
α
X
Y
O
Ф
U
V
θ
O
θ
Y
Rz ,
U
X
R y ,
O
Why Position & Orientation ?
z
w

P
w
v
u
x
R
v
u
y