Autonomous Robotics: Kinematics and Control

This lecture covers the basics of autonomous robotics, focusing on kinematics and control. It starts with definitions of ISO standards for robots, then delves into serial versus parallel kinematics, micro assembly, and the transformation of coordinates. The instructor explains position control using PID, and demonstrates a haptic paddle for position control and modeling. The lecture also discusses linearization, exact model compensation, and feedforward compensation for control. Finally, it explores velocity control, the static force-torque relationship, and specific applications like the Speita Direct Drive for fast pick and place.