## Introduction to Robotics: Mechanics and Control |

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nice one

### Contents

Spatial descriptions and transformations | 46 |

Manipulator kinematics | 68 |

Inverse manipulator kinematics | 134 |

Copyright | |

11 other sections not shown

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### Common terms and phrases

acceleration actuator algorithm application assume axes axis base body calculate called Cartesian cause Chapter complete compute configuration consider constant constraints control law coordinate defined degrees of freedom derive described desired developed direction dynamic effect end-effector equations error example Exercise expressions FIGURE force frame function gear give given goal Hence important indicate industrial robots inertia initial introduced inverse Jacobian joint kinematics language linear manipulator mass matrix means mechanism method motion move multiple natural Note objects operator orientation origin parameters path perform position possible problem programming reference relative result robot robot programming rotation rotation matrix scheme sensors shown in Fig shows simple simulation singularities solution solve space specify stiffness structure task tool torques trajectory transform usually values vector velocity workspace wrist write written zero