Index of Robotics

Robotics

• Ch. 1 Position and Orientation

  • 1.1 Coordinate Frame

  • 1.2 Working in 2D

  • 1.3 Rotation in 3D

  • 1.4 Rodrigues’ Formula

  • 1.5 Quaternion

  • 1.6 Three Types of Rotation Representation

  • 1.7 Pose in 3D

• Ch. 2 Robot Arm Kinematics

  • 2.1 Forward Kinematics

  • 2.2 Denavit-Hatenberg Parameters

  • 2.3 Actuator Space/Joint Space/Task Space

  • 2.4 Inverse Kinematics

  • 2.5 Numerical Solutions

• Ch. 3 Differential Kinematics

  • 3.1 Differential Kinematics in 2D

  • 3.2 Differential Kinematics in 3D

  • 3.3 Differential Kinematics in 3D (2)

  • 3.4 Differential Kinematics in 3D (3)

  • 3.5 Static Forces in Manipulator

• Ch. 4 Manipulator Dynamics

  • 4.1 Rigid Body Dynamics

  • 4.2 Inertia Tensor

  • 4.3 Lagrange Equations

  • 4.4 Newton-Euler Formulation

  • 4.5 Extra

• Ch. 5 Planning

  • 5.1 Trajectory Planning

  • 5.2 Interpolation