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Location:
Training
/
Robot
/
Modern Robotics: Mechanics, Planning, and Control
/
Exponential Coordinates of Rigid-Body Motion
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Exponential Coordinates of Rigid-Body Motion
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Chapters
Chapter 1:Introduction to the Lightboard
Chapter 2:Acknowledgments
Chapter 3:Foundations of Robot Motion
Chapter 4:Degrees of Freedom of a Rigid Body
Chapter 5:Degrees of Freedom of a Robot
Chapter 6:Configuration Space Topology
Chapter 7:Configuration Space Representation
Chapter 8:Configuration and Velocity Constraints
Chapter 9:Task Space and Workspace
Chapter 10:Introduction to Rigid-Body Motions
Chapter 11:Rotation Matrices (Part 1 of 2)
Chapter 12:Rotation Matrices (Part 2 of 2)
Chapter 13:Angular Velocities
Chapter 14:Exponential Coordinates of Rotation (Part 1 of 2)
Chapter 15:Exponential Coordinates of Rotation (Part 2 of 2)
Chapter 16:Homogeneous Transformation Matrices
Chapter 17:Twists (Part 1 of 2)
Chapter 18:Twists (Part 2 of 2)
Chapter 19:Exponential Coordinates of Rigid-Body Motion
Chapter 20:Wrenches
Chapter 21:Forward Kinematics Example
Chapter 22:Product of Exponentials Formula in the Space Frame
Chapter 23:Product of Exponentials Formula in the End-Effector Frame
Chapter 24:Velocity Kinematics and Statics
Chapter 25:Space Jacobian
Chapter 26:Body Jacobian
Chapter 27:Statics of Open Chains
Chapter 28:Singularities
Chapter 29:Manipulability
Chapter 30:Inverse Kinematics of Open Chains
Chapter 31:Numerical Inverse Kinematics (Part 1 of 2)
Chapter 32:Numerical Inverse Kinematics (Part 2 of 2)
Chapter 33:Kinematics of Closed Chains
Chapter 34:Lagrangian Formulation of Dynamics (Part 1 of 2)
Chapter 35:Lagrangian Formulation of Dynamics (Part 2 of 2)
Chapter 36:Understanding the Mass Matrix
Chapter 37:Dynamics of a Single Rigid Body (Part 1 of 2)
Chapter 38:Dynamics of a Single Rigid Body (Part 2 of 2)
Chapter 39:Newton-Euler Inverse Dynamics
Chapter 40:Forward Dynamics of Open Chains
Chapter 41:Dynamics in the Task Space
Chapter 42:Constrained Dynamics
Chapter 43:Actuation, Gearing, and Friction
Chapter 44:Point-to-Point Trajectories (Part 1 of 2)
Chapter 45:Point-to-Point Trajectories (Part 2 of 2)
Chapter 46:Polynomial Via Point Trajectories
Chapter 47:Time-Optimal Time Scaling (Part 1 of 3)
Chapter 48:Time-Optimal Time Scaling (Part 2 of 3)
Chapter 49:Time-Optimal Time Scaling (Part 3 of 3)
Chapter 50:Overview of Motion Planning
Chapter 51:C-Space Obstacles
Chapter 52:Graphs and Trees
Chapter 53:Graph Search
Chapter 54:Complete Path Planners
Chapter 55:Grid Methods for Motion Planning
Chapter 56:Sampling Methods for Motion Planning (Part 1 of 2)
Chapter 57:Sampling Methods for Motion Planning (Part 2 of 2)
Chapter 58:Virtual Potential Fields
Chapter 59:Nonlinear Optimization
Chapter 60:Control System Overview
Chapter 61:Error Response
Chapter 62:Linear Error Dynamics
Chapter 63:First-Order Error Dynamics
Chapter 64:Second-Order Error Dynamics
Chapter 65:Motion Control with Velocity Inputs (Part 1 of 3)
Chapter 66:Motion Control with Velocity Inputs (Part 2 of 3)
Chapter 67:Motion Control with Velocity Inputs (Part 3 of 3)
Chapter 68:Motion Control with Torque or Force Inputs (Part 1 of 3)
Chapter 69:Motion Control with Torque or Force Inputs (Part 2 of 3)
Chapter 70:Motion Control with Torque or Force Inputs (Part 3 of 3)
Chapter 71:Force Control
Chapter 72:Hybrid Motion-Force Control
Chapter 73:Grasping and Manipulation
Chapter 74:First-Order Analysis of a Single Contact
Chapter 75:Contact Types - Rolling, Sliding, and Breaking
Chapter 76:Multiple Contacts
Chapter 77:Planar Graphical Methods (Part 1 of 2)
Chapter 78:Planar Graphical Methods (Part 2 of 2)
Chapter 79:Form Closure
Chapter 80:Friction
Chapter 81:Planar Graphical Methods
Chapter 82:Force Closure
Chapter 83:Duality of Force and Motion Freedoms
Chapter 84:Manipulation and the Meter-Stick Trick
Chapter 85:Transport of an Assembly
Chapter 86:Wheeled Mobile Robots
Chapter 87:Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
Chapter 88:Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
Chapter 89:Modeling of Nonholonomic Wheeled Mobile Robots
Chapter 90:Controllability of Wheeled Mobile Robots (Part 1 of 4)
Chapter 91:Controllability of Wheeled Mobile Robots (Part 2 of 4)
Chapter 92:Controllability of Wheeled Mobile Robots (Part 3 of 4)
Chapter 93:Controllability of Wheeled Mobile Robots (Part 4 of 4)
Chapter 94:Motion Planning for Nonholonomic Mobile Robots
Chapter 95:Feedback Control for Nonholonomic Mobile Robots
Chapter 96:Odometry
Chapter 97:anipulation
Duration:4 minutes and 59 seconds
Date:2019/06/20
Uploader:木犯001号
Introduction
keywords:
robot
control
planning
The most important concepts in modern robotics. A study of the kinematics, dynamics, motion planning, and control of mobile robots and robot arms.
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