Modern Robotics notes

Preview 1 2 Configuration Space 11 2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12 2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15 2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.2.2 Gr¨ubler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17 2.3 Configuration Space: Topology and Representation . . . . . . . . 23 2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23 2.3.2 Configuration...

Solutions Manual For Modern Robotics Mechanics, Planning, and Control 1st Edition by Kevin M. Lynch, Frank C. Park 6302, 0, 5658, 7 Chapter 2: Configuration Space Chapter 3: Rigid-Body Motions Chapter 4: Forward Kinematics Chapter 5: Velocity Kinematics and Statics Chapter 6: Inverse Kinematics Chapter 7: Kinematics of Closed Chains Chapter 8: Dynamics of Open Chains Chapter 9: Trajectory Generation Chapter 10: Motion Planning Chapter 11: Robot Control Chapter 12...