Abstract
With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.
Highlights
Introduction to Robotics is a common introductory robotics course generally covering the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics
Joint programming is a fundamental part of this course and involves a deep understanding of robotics theory including robot kinematics, dynamics, and trajectory planning
Joint-level programming ties together several critical parts of robotic theory including forward and inverse kinematics, transformation matrices, and the math involved in trajectory planning to produce the ultimate result of being able to control the arm directly by continuously giving a power setting to each joint motor as it moves
Summary
Introduction to Robotics is a common introductory robotics course generally covering the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming is a fundamental part of this course and involves a deep understanding of robotics theory including robot kinematics, dynamics, and trajectory planning. Students will need to bypass the arm’s included controller to gain direct access to the joint motors in order to perform and learn any joint programming. This is not desirable or possible as the controller includes many safety features that, if overridden, void all warrantees and expose the educational institution to any liability resulting from accidents associated with the controller not being actively in control of the arm. It is unlikely any educational institution will allow such an activity
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