WEBVTT 00:00.260 --> 00:06.500 For the majority of this course, we will work on developing software, algorithms and functionalities 00:06.500 --> 00:13.340 for a manipulator robot in Ros two and we will test our work in a simulator before using it on a real 00:13.340 --> 00:14.090 robot. 00:14.510 --> 00:19.820 To successfully complete this part of the course, you will only need a PC with ubuntu which you can 00:19.820 --> 00:25.070 choose to install in dual boot on a partition of your drive or also in a virtual machine. 00:25.400 --> 00:29.480 In both cases I will guide you through the installation and configuration process. 00:30.390 --> 00:31.050 In Ubuntu. 00:31.080 --> 00:37.350 We will then proceed to install Ros which you will need to follow along with the laboratory lesson where 00:37.350 --> 00:40.170 we will implement all the robot's functionalities. 00:41.010 --> 00:45.010 In the final part of the course, our project will come to life. 00:45.030 --> 00:48.450 Moving beyond the computer and becoming reality. 00:49.200 --> 00:53.220 The robot has a very simple structure that can be directly 3D printed. 00:53.220 --> 00:58.920 If you have access to a 3D printer, or you can also purchase all the components at an affordable price. 00:59.100 --> 01:06.330 It is a manipulator robot with three degrees of freedom and is equipped with a gripper for object manipulation. 01:07.130 --> 01:13.910 The term degree of freedom refers to the number of variables needed to determine the state of a system. 01:14.000 --> 01:19.640 In this case, the state of the system is simply the position of the gripper in the world, which is 01:19.640 --> 01:22.640 determined by the angle formed by the base joint. 01:22.670 --> 01:25.820 The shoulder joint and the elbow joint. 01:25.850 --> 01:31.820 The combination of these three joints angle uniquely determines the position of the gripper of the robot 01:31.820 --> 01:32.900 in the space. 01:33.540 --> 01:40.170 As you may have noticed, when counting the degrees of freedom, we don't consider the angle that controls 01:40.170 --> 01:46.530 the gripper opening, as this does not affect the gripper position in the space, but only its state. 01:46.530 --> 01:48.900 So if it's open or closed. 01:50.090 --> 01:56.090 Furthermore, the particular construction of this robot is called articulated parallelogram, which 01:56.090 --> 02:00.440 allows the robot to move while keeping the gripper parallel to the base. 02:00.710 --> 02:06.740 It also allows keeping all the motors except for the one of the gripper close to the robot's base. 02:06.770 --> 02:13.310 This redistributes the robot's weight towards the base, increasing stability and reducing inertia. 02:14.840 --> 02:20.570 As for the robot electronics, the control of the actuators is entrusted to an Arduino board. 02:21.100 --> 02:26.950 For those of you who are not familiar with it, Arduino is a rapid prototyping board that can be used 02:26.950 --> 02:32.890 to connect and control input output devices such as LEDs or motors. 02:33.280 --> 02:41.350 For the actuation you will need for SG 90 type servo motors, or if you have already equivalent servo 02:41.350 --> 02:42.010 motors. 02:42.900 --> 02:49.170 These components are easily accessible at and they are often included also in the maker starter kits. 02:49.960 --> 02:56.290 In terms of software, whether you want to simulate the robot on your PC or to build a real one, you 02:56.290 --> 02:57.790 will always need the same tools. 02:57.790 --> 03:01.550 That is a PC with Ubuntu installed along with ros2. 03:01.690 --> 03:06.880 And the only difference is that if you decide to build your own robot, you will also need to install 03:06.880 --> 03:13.330 an additional software called Arduino IDE, which we are going to use to write and upload the code to 03:13.330 --> 03:14.380 the Arduino board.