Learning Path: Modeling of the Ned2

This course is designed to guide you through the practical aspects of robotic kinematics and motion control using the NED2 robotic arm. Through a series of hands-on laboratories, you will learn how to model, program, and control the NED2 robot using Python.

Course Structure

This course is divided into four laboratories, each focusing on a crucial aspect of robotics modeling and programming:

Laboratory 1: Direct Geometric Model (DGM)

Concepts Covered:

• Denavit-Hartenberg Modified (DHM) parameterization
• Homogeneous transformation matrices
• Direct geometric modeling

Skills Gained:

• Positioning and parameterizing the robot
• Implementing DGM using Python
• Programming basic robot movements

Laboratory 2: Direct Kinematic Model (DKM)

Concepts Covered:

• Position, velocity, and acceleration in 3D space
• Calculation of the direct kinematic model
• Jacobian matrix calculation

Skills Gained:

• Representing the NED2 arm in specific configurations
• Computing transformation matrices
• Using Python for kinematic verification

Laboratory 3: Inverse Kinematics and Singularity Detection

Concepts Covered:

• Inverse kinematics calculations
• Jacobian matrix rank determination
• Detection of singularities using determinant and condition number

Skills Gained:

• Computing joint velocities
• Analyzing singularity conditions in robotic movement
• Implementing Python-based verification techniques

Laboratory 4: Motion Planning and Control

Concepts Covered:

• Differential kinematics for trajectory generation
• Python programming of motion control
• Precision improvement in robotic movement

Skills Gained:

• Implementing a straight-line trajectory in Python
• Controlling NED2 using Python
• Graphical verification and accuracy enhancement

Knowledge Prerequisites

Before starting, ensure you are familiar with:

• Python: Basic syntax, lists, dictionaries, loops, and function calls
• Mathematics: Matrix multiplication and transformation matrices
• Robotics: Coordinate frame setup, Denavit-Hartenberg parameterization, kinematic modeling
• Kinematics: Position, velocity, and acceleration in 3D, Jacobian matrix calculations

Required Equipment

• NED2 Robotic Arm (properly set up and connected)
• NiryoStudio (for robot interfacing)
• Python Console (with pyniryo library installed)

Getting Started

Make sure your NED2 robot is correctly set up, and your Python environment is ready before proceeding to the laboratory modules. Click on a lab module to begin your journey into robotics programming!