Lin, C. Y., & Shen, Y., & Hao, Z. (2015, June), Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera  Paper presented at 2015 ASEE Annual Conference & Exposition, Seattle, Washington. 10.18260/p.24822

\bibitem{asee_peer_24822}
  Lin, C. Y., \& Shen, Y., \& Hao, Z. (2015, June), \emph{Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera}
  Paper presented at 2015 ASEE Annual Conference \& Exposition, Seattle, Washington.
  10.18260/p.24822

Cheng Y. Lin P.E., Yuzhong Shen, and Zhili Hao.  "Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera".  2015 ASEE Annual Conference & Exposition, Seattle, Washington, 2015, June.  ASEE Conferences, 2015.  https://peer.asee.org/24822 Internet.  15 Dec, 2024

\bibitem{asee_peer_24822}
  Cheng Y. Lin P.E., Yuzhong Shen, and Zhili Hao.
  "Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera".
  \emph{2015 ASEE Annual Conference \& Exposition, Seattle, Washington, 2015, June}.
  ASEE Conferences, 2015.
  https://peer.asee.org/24822 Internet.  15 Dec, 2024

@INPROCEEDINGS{asee_peer_24822
author = "Cheng Y. Lin P.E., Yuzhong Shen, and Zhili Hao"
title = "Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera"
booktitle = "2015 ASEE Annual Conference \& Exposition"
year = "2015"
month = "June"
address = "Seattle, Washington"
publisher = "ASEE Conferences"
note = {https://peer.asee.org/24822}
number = {10.18260/p.24822}
}

TY  - CPAPER
AB  -   Teaching Robot Kinematics for Engineering Technology Students Using a             Created Three-Dimensional Robot and a Camera[Abstract]Teaching robot kinematics is important to engineering technology students in therobot automation. This is not only students can study the coordinate transformationprinciples from a joint to its following joint of a robot, but also can relate thecoordinate systems between a robot and a camera which may be mounted on or offthe robot. While students can use math software to compute robot kinematictransformations, they have problems verifying their answers. In this paper, a threedimensional vertically articulated robot is created to help students visualize thelocation and orientation of the end effector. Students can check their answers basedon the joint encoder values set up at each joint. In addition, a camera is alsomounted on the robot for the students to relate an object location from the cameracoordinate system to the robot world frame. This can be achieved by using theUser Coordinate Systems (UCS) available in the CAD software. The location ofthe desired object can also be visualized and verified from the camera’s UCS byonly displaying the object on the screen.Main components in this visualized robot include:  a. Build a three dimensional robots with a camera mounted on the the robot as     shown in Figure 1. The robot is at the position where all joint encoders are     zeros.  b. Figure 2 shows that a key way created in joint six when wrist roll equals     zero.  c. Figure 3 shows that six UCS are defined for each joint so that students can     program the kinematic transformation. The “X” and “Z” axes are also shown     in each UCS. Students can check the location and orientation of the end-     effector and compared the answers of their kinematic transformations.   The [4x4] homogenous transformation matrices are applied in teaching   kinematic transformations.     Figure 1: The 3D Robot in the Zero PositionFigure 2: A Key Way Created to Locate Wrist Roll = 0Figure 3: Defined UCS
AU  - Cheng Y. Lin P.E.
AU  - Yuzhong Shen
AU  - Zhili Hao
CY  - Seattle, Washington
DA  - 2015/06/14
PB  - ASEE Conferences
TI  - Teaching Robot Kinematics for Engineering Technology Students Using a Created Three-Dimensional Robot and a Camera
UR  - https://peer.asee.org/24822
DO  - 10.18260/p.24822
ER  -