Modern Robotics

Modern Robotics

1. Configuration

   • A specification of the position of all ponts of a robot.
     • C-space
     • Dof (Degrees of freedom)
       • Revolute
       • Prismatic
       • Universal
       • Spherical

2. Two spaces are topologically equivalent if one can be smoothly deformed to the other without cutting and gluing.

   • Topologically distinct one dimensional sapaces.
   • Topologically distinct two-dimensional spaces.

3. Task space

   • The space in which the robots task is naturally expressed

4. Workspace

   • A specification of the reachable configurations of the end-effector.

5. Rotation Matrices

   • Represent an orientation.
   • Change reference frace.
   • rotate a vector or frame.
   • Special Ortogonal Group

6. Kinematic examples

7. controller

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