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Manipulation

Manipulation

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Manipulation

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  1. Manipulation Umashankar Nagarajan

  2. Rotation Z Y Z Y A B B A X X A B Umashankar Nagarajan

  3. Rotation Matrix • about X axis • about Y axis • about Z axis Umashankar Nagarajan

  4. Properties of a Rotation Matrix Orthonormal Matrix Umashankar Nagarajan

  5. Euler Angles • Z-Y-X • First, rotate about by • Then, rotate about by • Then, rotate about by Umashankar Nagarajan

  6. Transformation Z Y Z Y A A B B X X A B Umashankar Nagarajan

  7. Transformation • Inverse transformation Umashankar Nagarajan

  8. Manipulator Kinematics • Common joint types with one DOF • Revolute • Prismatic Umashankar Nagarajan

  9. Forward Kinematics Umashankar Nagarajan

  10. THE END Umashankar Nagarajan