Kinematics overview
Introduction to robot kinematics and rigid body motion.
Configuration space
Degrees of freedom, joint spaces, and configuration representations.
Homogeneous coordinates
Representing points and transformations in projective space.
Motion representations
Rotation matrices, Euler angles, quaternions, and SE(3).
AR4 arm kinematics
A worked six-axis example: Denavit-Hartenberg parameters, forward and inverse kinematics, and joint angles to motor steps.
AR4 kinematics lab
FK and IK built from the as-built URDF, reconciled against the DH model.
References
- Modern Robotics Videos (Northwestern University), companion video lectures to Kevin Lynch and Frank Park’s Modern Robotics: Mechanics, Planning, and Control.