Geometric Robotics
Robotics is a very visual discipline, and I found that these tools helped myself and my students to have a clearer understanding of the materials covered in the course. Feel free to use the provided materials but please acknowledge the source! Also check out the GeoLib library for implementing a lot of the low level functions.
- 01. Rotations, Translations, and Homogeneous Transforms
- 02. Forward Kinematics and the Product of Exponentials
- 04. Inverse Kinematics
- 05. Velocities & Jacobians
- 06. Jacobians & Wrenches
- 07. Dynamics
- 08. Parameter Identification, State Estimation & Control
‘Rob is an instructor who does not wear shoes’
-sterling praise from a former student