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