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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
  • Euclidean Transformation
  • Rotation Matrix
  • Homogeneous Coordinates
  • Transform Matrix

Rotation Vectors and Euler Angles

  • Rotation Vectors
  • Euler Angles

Quaternions

  • Quaternions
    • Quaternion Operations
    • Quaternion Conversion

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

Backlinks

  • Robotics

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