Lecture 4: Introduction to Robot Kinematics In this lecture, you will learn: - Basic Robotics concepts - Geometric issues, frames, positions, orientations. - Special matrix groups SO(3), so(3). - Homogenous transforms
Dan O. Popa, Robotics EE5325, Fall 2009
Geometric Aspects Positions, Orientations. Mappings between frames Homogenous transforms Dan O. Popa, Robotics EE5325, Fall 2009
Textbook Readings • Chapter 2.5 from F. Lewis text • Chapter 2.1-2.6 from J. J. Craig text
Dan O. Popa, Robotics EE5325, Fall 2009