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    Robot Configuration & Representation

    Robot Configuration & Representation

    Jan 27, 20241 min read

    • robotics

    Configuration

    • Configuration Space
    • Degrees of Freedom
    • Grubler’s Formula
    • Robot Joints
    • Open-chain vs Closed-chain mechanisms

    Transforms

    Rotation Matrices

    • Points, Vectors, Coordinate Systems
    • Transforms Intuition
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    Affine and Projective Transformation

    • Affine and Projective Transformation
      • Similarity Transformation
      • Affine Transformation
      • Perspective Transformation

    Lie Algebra


    Graph View

    • Configuration
    • Transforms
    • Rotation Matrices
    • Rotation Vectors and Euler Angles
    • Quaternions
    • Affine and Projective Transformation
    • Lie Algebra

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