
Manipulation Umashankar Nagarajan
Rotation Z Y Z Y A B B A X X A B Umashankar Nagarajan
Rotation Matrix • about X axis • about Y axis • about Z axis Umashankar Nagarajan
Properties of a Rotation Matrix Orthonormal Matrix Umashankar Nagarajan
Euler Angles • Z-Y-X • First, rotate about by • Then, rotate about by • Then, rotate about by Umashankar Nagarajan
Transformation Z Y Z Y A A B B X X A B Umashankar Nagarajan
Transformation • Inverse transformation Umashankar Nagarajan
Manipulator Kinematics • Common joint types with one DOF • Revolute • Prismatic Umashankar Nagarajan
Forward Kinematics Umashankar Nagarajan
THE END Umashankar Nagarajan