Industrial robot manipulators are the backbone of modern factories and production lines all over the world. They are strong, quick, agile, precise, and reliable. We will in this lecture look into the mathematical foundations of robot manipulators and the type of calculations that has to be done by the robot control system.

Thorsen will showcase the main type of mathematical problems within robotics and illustrate how they can be solved in practice by examples that is on the level of high school math (videregående R1+R2).

The outline of the lecture is to give an introduction to robot manipulators, how they are described mathematically, by vectors of joint variables in a configuration space, or by joint variables and joint velocities in a state space. This will be followed by the two main geometrical problems in robotics: Forward kinematics -- the problem of knowing where the hand or end-effector of the robot is given the measured values of its joint angles, and inverse kinematics -- the problem of how to get the end-effector to a specific location in space.

He will also present the problem of velocity kinematics, and if time allows look towards some more involved examples from full size industrial manipulators with 6 degrees of freedom.

### About The Wide World of Maths

All staff and students are warmly invited to attend the public lecture series ‘The Wide World of Maths’ taking place during autumn semester 2019.

Each week, an expert guest speaker will give an introduction to a topic of current and future importance to society, in which maths plays an essential (and often hidden) role. Through the use of illustrative examples, the speakers will reveal to the audience the many different parts of mathematics that are important in everyday life.

The lectures are of general interest and do not assume any mathematical prerequisites. It is important that as many students as possible attend so that they can begin to appreciate the power of mathematics across a multitude of disciplines, and be exposed to the variety of career pathways that mathematics makes available.

Lectures are held every Wednesday, kl. 16:15-17.00, in KE E-354.