Kinematics

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

• Direct Kinematics
  • Definition
  • Direct Kinematics Computation
  • Example 1: Three-link planar arm
  • Example 2: Spherical arm
  • Example 3: Anthropomorphic arm
  • Example 4: Spherical wrist
• Inverse Kinematics
  • Problem definition and solutions perspective
  • Solution for the three-link planar arm
  • Solution for a manipulator with a spherical wrist
• Trajectory Planning
  • Path and trajectory planning
  • Point-to-point motion
  • Motion through a sequence of points
  • Operational-space trajectories
• Jacobians
  • The Geometric Jacobian
  • Jacobian of typical manipulator structures
  • The Analytic Jacobian
  • Exercises
• Inverse Kinematics Algorithms
  • The idea
  • Jacobian pseudo-inverse method
  • Jacobian transpose method
• Singularities and redundancy
  • Singularities
  • Redundancy
  • Inverse differential kinematics
• Statics and Manipulability
  • Statics
  • Manipulability
  • Appendix. General Equation of an Ellipsoid