Kinematics & Dynamics
Formulate mathematical models to map joint variables to end-effector positions and vice versa.
Core Topics
Forward KinematicsInverse KinematicsDenavit-Hartenberg ConventionJacobiansSingularity Analysis
Key Takeaways
- Derive Denavit-Hartenberg parameters for manipulators
- Solve forward kinematics for serial linkages
- Compute inverse kinematics numerically and analytically
- Analyze the Jacobian matrix for singularities