Robot Dynamics & Control

محاضرة مبسطة بعنوان
Robot Dynamics & Control
Robot Kinematics for Orientation
Asanga Ratnaweera
Department of Mechanical Engineering
Forward and Inverse Kinematics for orientation
Roll Pitch and Yaw (RPY) angles (Cardan angles)
RPY Wrist configuration
Kinematics of RPY Wrist
Inverse kinematic equation
Complete Kinematic Model
Euler angles
Wrist configurations
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