Assignment 3 Serial Manipulators

YouTube Video

(Video above, ultimate robot arm from GTRI).

Robot arm has so many applications -- from industries to International Space Station.
Here is a typical 6 DOF robot arm.
(Image above: Universial Robot in CPL, Georgia Tech)

(ISS robotic arm)
click image to go to the original site

(Industrial robot arm)
click image to go to the original site

Given pose, find tool frame.

Product of Exponential (POE): 

Given tool frame, find pose.
1. Closed-Form Methods

2. Iterative Methods

Here are some sample forward kinematics and Inverse Kinematics sample from the assignment:
Forward Kinematics:

Inverse Kinematics:

1. After I heard one of my lab mate's PhD's proposal (his topic is using reinforcement learning to move objects using PR2), I realized that moving objects are very complicated.
Though it may seems tedious and obvious, it will have huge impact on our daily life in the future.
2. Serial manipulator 2D/3D rigid transformation is very similar to camera calibration in computer vision (intrinsic & extrinsic model).