Modern Robotics, Course 2: Robot Kinematics

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  • Chapter 4: Forward Kinematics
    • Product of exponentials formula for forward kinematics in the space frame and the end-effector frame.
  • Chapter 5: Velocity Kinematics and Statics
    • Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability.
  • Chapter 6: Inverse Kinematics
    • Analytical and numerical inverse kinematics.
  • Chapter 7: Kinematics of Closed Chains
    • Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains.