Introduction to Biorobotics
- Descriptions : position, orientation, and frames
- Mapping : changing descriptions from frame to frame
- Operators: translations, rotations, transformations
- Manipulator Kinematics : Link description, link connection description, Convention for affixing frame to links
- Actuator space, Joint space, and Cartesian space
- Denavit-Hartenberg Notation
- Inverse Manipulator Kinematics: Solvability
- Inverse Manipulator Kinematics: Algebraic vs. geometric
- Inverse Manipulator Kinematics: Piepers solution when three axes intersect
- Jacobians: Notation for time-varying position and orientation
- Jacobians : Linear and rotational velocity of rigid bodies
- Jacobians : Singularities
- Jacobians in the force domain, Cartesian transformation of velocities and static forces
- Manipulator Dynamics : Iterative Newton-Euler dynamic formulation
- Lagrangian formulation of manipulator dynamics
- Trajectory generation: Collision-free path planning