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6 Robotics

What Is Robotics?​

Robotics is an interdisciplinary field that integrates:

  • Mechanics
  • Electronics
  • Control
  • Computation
  • Artificial Intelligence

Basic Components of a Robot​

Mechanical Structure​

  • Links and joints form the robot body
  • Determines degrees of freedom (DoF)

Actuators​

  • Motors (DC, servo, stepper)
  • Convert electrical energy into motion

Sensors​

  • Proprioceptive: encoders, IMU
  • Exteroceptive: camera, LiDAR, force sensors

Controller / Computer​

  • Embedded systems or onboard computers
  • Executes control and planning algorithms

Kinematics​

Forward Kinematics​

  • Computes end-effector pose from joint angles

Inverse Kinematics​

  • Computes joint angles from desired end-effector pose
  • May have multiple or no solutions

Dynamics​

  • Models forces and torques required for motion
  • Includes mass, inertia, gravity, friction

Control in Robotics​

Feedback Control​

  • Uses sensor measurements to correct errors
  • Common example: PID control

Trajectory Tracking​

  • Follow a time-parameterized path

  • Balance accuracy and stability

Perception​

  • Extract information from sensor data
  • Tasks include:
    • Object detection
    • Localization
    • Mapping

Motion Planning​

Planning Problem​

  • Find a collision-free path from start to goal

Common Planning Methods​

  • Grid-based search
  • Sampling-based methods (RRT, PRM)

Learning-Based Robotics​

Motivation​

  • Classical models are inaccurate or incomplete
  • Learning improves adaptability

Reinforcement Learning in Robotics​

  • Learn control policies via trial and error
  • Interaction with environment
  • Reward-driven optimization

Simulation vs. Real World​

Simulation​

  • Faster and safer
  • Used for training and testing

Sim-to-Real Gap​

  • Physical discrepancies between simulation and reality
  • Techniques: domain randomization