Modern Robotics: Mechanics, Planning, and Control

The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.

• Chapter 1：Introduction to the Lightboard (1 minutes and 32 seconds)

• Chapter 2：Acknowledgments (43 seconds)

• Chapter 3：Foundations of Robot Motion (2 minutes and 11 seconds)

• Chapter 4：Degrees of Freedom of a Rigid Body (5 minutes and 14 seconds)

• Chapter 5：Degrees of Freedom of a Robot (5 minutes and 42 seconds)

• Chapter 6：Configuration Space Topology (4 minutes and 36 seconds)

• Chapter 7：Configuration Space Representation (3 minutes and 51 seconds)

• Chapter 8：Configuration and Velocity Constraints (4 minutes and 20 seconds)

• Chapter 9：Task Space and Workspace (1 minutes and 34 seconds)

• Chapter 10：Introduction to Rigid-Body Motions (2 minutes and 9 seconds)

• Chapter 11：Rotation Matrices (Part 1 of 2) (2 minutes and 53 seconds)

• Chapter 12：Rotation Matrices (Part 2 of 2) (4 minutes and 13 seconds)

• Chapter 13：Angular Velocities (3 minutes and 27 seconds)

• Chapter 14：Exponential Coordinates of Rotation (Part 1 of 2) (2 minutes and 3 seconds)

• Chapter 15：Exponential Coordinates of Rotation (Part 2 of 2) (3 minutes and 42 seconds)

• Chapter 16：Homogeneous Transformation Matrices (6 minutes and 21 seconds)

• Chapter 17：Twists (Part 1 of 2) (4 minutes and 59 seconds)

• Chapter 18：Twists (Part 2 of 2) (2 minutes and 38 seconds)

• Chapter 19：Exponential Coordinates of Rigid-Body Motion (4 minutes and 59 seconds)

• Chapter 20：Wrenches (3 minutes and 0 seconds)

• Chapter 21：Forward Kinematics Example (3 minutes and 27 seconds)

• Chapter 22：Product of Exponentials Formula in the Space Frame (6 minutes and 30 seconds)

• Chapter 23：Product of Exponentials Formula in the End-Effector Frame (4 minutes and 40 seconds)

• Chapter 24：Velocity Kinematics and Statics (8 minutes and 27 seconds)

• Chapter 25：Space Jacobian (5 minutes and 58 seconds)

• Chapter 26：Body Jacobian (4 minutes and 50 seconds)

• Chapter 27：Statics of Open Chains (2 minutes and 53 seconds)

• Chapter 28：Singularities (6 minutes and 36 seconds)

• Chapter 29：Manipulability (5 minutes and 43 seconds)

• Chapter 30：Inverse Kinematics of Open Chains (4 minutes and 2 seconds)

• Chapter 31：Numerical Inverse Kinematics (Part 1 of 2) (5 minutes and 3 seconds)

• Chapter 32：Numerical Inverse Kinematics (Part 2 of 2) (4 minutes and 46 seconds)

• Chapter 33：Kinematics of Closed Chains (8 minutes and 33 seconds)

• Chapter 34：Lagrangian Formulation of Dynamics (Part 1 of 2) (6 minutes and 41 seconds)

• Chapter 35：Lagrangian Formulation of Dynamics (Part 2 of 2) (5 minutes and 35 seconds)

• Chapter 36：Understanding the Mass Matrix (5 minutes and 21 seconds)

• Chapter 37：Dynamics of a Single Rigid Body (Part 1 of 2) (6 minutes and 12 seconds)

• Chapter 38：Dynamics of a Single Rigid Body (Part 2 of 2) (4 minutes and 4 seconds)

• Chapter 39：Newton-Euler Inverse Dynamics (5 minutes and 52 seconds)

• Chapter 40：Forward Dynamics of Open Chains (3 minutes and 43 seconds)

• Chapter 41：Dynamics in the Task Space (1 minutes and 31 seconds)

• Chapter 42：Constrained Dynamics (4 minutes and 14 seconds)

• Chapter 43：Actuation, Gearing, and Friction (6 minutes and 6 seconds)

• Chapter 44：Point-to-Point Trajectories (Part 1 of 2) (5 minutes and 40 seconds)

• Chapter 45：Point-to-Point Trajectories (Part 2 of 2) (3 minutes and 7 seconds)

• Chapter 46：Polynomial Via Point Trajectories (2 minutes and 59 seconds)

• Chapter 47：Time-Optimal Time Scaling (Part 1 of 3) (5 minutes and 38 seconds)

• Chapter 48：Time-Optimal Time Scaling (Part 2 of 3) (6 minutes and 36 seconds)

• Chapter 49：Time-Optimal Time Scaling (Part 3 of 3) (4 minutes and 45 seconds)

• Chapter 50：Overview of Motion Planning (4 minutes and 32 seconds)

• Chapter 51：C-Space Obstacles (4 minutes and 43 seconds)

• Chapter 52：Graphs and Trees (2 minutes and 23 seconds)

• Chapter 53：Graph Search (9 minutes and 25 seconds)

• Chapter 54：Complete Path Planners (3 minutes and 4 seconds)

• Chapter 55：Grid Methods for Motion Planning (4 minutes and 25 seconds)

• Chapter 56：Sampling Methods for Motion Planning (Part 1 of 2) (3 minutes and 11 seconds)

• Chapter 57：Sampling Methods for Motion Planning (Part 2 of 2) (7 minutes and 13 seconds)

• Chapter 58：Virtual Potential Fields (5 minutes and 9 seconds)

• Chapter 59：Nonlinear Optimization (5 minutes and 30 seconds)

• Chapter 60：Control System Overview (3 minutes and 24 seconds)

• Chapter 61：Error Response (2 minutes and 49 seconds)

• Chapter 62：Linear Error Dynamics (4 minutes and 20 seconds)

• Chapter 63：First-Order Error Dynamics (1 minutes and 56 seconds)

• Chapter 64：Second-Order Error Dynamics (5 minutes and 36 seconds)

• Chapter 65：Motion Control with Velocity Inputs (Part 1 of 3) (4 minutes and 13 seconds)

• Chapter 66：Motion Control with Velocity Inputs (Part 2 of 3) (6 minutes and 2 seconds)

• Chapter 67：Motion Control with Velocity Inputs (Part 3 of 3) (4 minutes and 29 seconds)

• Chapter 68：Motion Control with Torque or Force Inputs (Part 1 of 3) (4 minutes and 5 seconds)

• Chapter 69：Motion Control with Torque or Force Inputs (Part 2 of 3) (5 minutes and 32 seconds)

• Chapter 70：Motion Control with Torque or Force Inputs (Part 3 of 3) (7 minutes and 12 seconds)

• Chapter 71：Force Control (2 minutes and 45 seconds)

• Chapter 72：Hybrid Motion-Force Control (5 minutes and 26 seconds)

• Chapter 73：Grasping and Manipulation (4 minutes and 55 seconds)

• Chapter 74：First-Order Analysis of a Single Contact (4 minutes and 14 seconds)

• Chapter 75：Contact Types - Rolling, Sliding, and Breaking (5 minutes and 41 seconds)

• Chapter 76：Multiple Contacts (4 minutes and 48 seconds)

• Chapter 77：Planar Graphical Methods (Part 1 of 2) (4 minutes and 19 seconds)

• Chapter 78：Planar Graphical Methods (Part 2 of 2) (4 minutes and 44 seconds)

• Chapter 79：Form Closure (4 minutes and 7 seconds)

• Chapter 80：Friction (5 minutes and 38 seconds)

• Chapter 81：Planar Graphical Methods (4 minutes and 4 seconds)

• Chapter 82：Force Closure (4 minutes and 4 seconds)

• Chapter 83：Duality of Force and Motion Freedoms (3 minutes and 32 seconds)

• Chapter 84：Manipulation and the Meter-Stick Trick (5 minutes and 16 seconds)

• Chapter 85：Transport of an Assembly (3 minutes and 4 seconds)

• Chapter 86：Wheeled Mobile Robots (2 minutes and 10 seconds)

• Chapter 87：Omnidirectional Wheeled Mobile Robots (Part 1 of 2) (6 minutes and 2 seconds)

• Chapter 88：Omnidirectional Wheeled Mobile Robots (Part 2 of 2) (3 minutes and 0 seconds)

• Chapter 89：Modeling of Nonholonomic Wheeled Mobile Robots (5 minutes and 0 seconds)

• Chapter 90：Controllability of Wheeled Mobile Robots (Part 1 of 4) (4 minutes and 7 seconds)

• Chapter 91：Controllability of Wheeled Mobile Robots (Part 2 of 4) (6 minutes and 28 seconds)

• Chapter 92：Controllability of Wheeled Mobile Robots (Part 3 of 4) (5 minutes and 38 seconds)

• Chapter 93：Controllability of Wheeled Mobile Robots (Part 4 of 4) (5 minutes and 26 seconds)

• Chapter 94：Motion Planning for Nonholonomic Mobile Robots (5 minutes and 2 seconds)

• Chapter 95：Feedback Control for Nonholonomic Mobile Robots (5 minutes and 42 seconds)

• Chapter 96：Odometry (4 minutes and 32 seconds)

• Chapter 97：anipulation (6 minutes and 19 seconds)