Foundations

Based on chapter 2 of Robotics: Modelling, Planning and Control by Siciliano, Sciavicco, Villani and Oriolo.

• Rigid bodies and homogeneous transformations
  • Pose of a rigid object
  • Rotation Matrix
  • Composition of Matrices
  • Euler Angles
  • Angle and Axis Representation
  • Quaternion
  • Homogeneous Transformations
• Robot Modelling
  • Denavit - Hartenberg Convention
  • Modified Denavit - Hartenberg Convention
  • Unified Robotic Description Format (URDF)
  • Examples