Modern Robotics Pages

• North Western support page
• Practice exercises
• Modern robotics The book (pdf)
• http://hades.mech.northwestern.edu

Kevin Lynch's slides

• Ch2.2
• Ch2.3
• Ch2.5

• Ch03.2a
• Ch03.3
• Ch03.4

Jnl club notes

(https://app.whiteboard.microsoft.com/me/whiteboards/a1b19604-018d-42ca-bcf9-aa46a993681c)

6th July 2021

13th July 2021

20th July 2021

• 2.4 Configuration and Velocity Constraints

20 July 2021

• 2.5 Task Space and Workspace

27th July 2021

• Introduction to rigid-body motion
• 3.2.1 Rotation matrices (part 1)
• 3.2.1 Rotation matrices (part 2)

• (http://www.cybernetia.co.uk/dnb/coords.pdf)

27 July 2021

4th August 2021 (Wednesday)

• 3.2.2 Angular Velocities
• 3.2.3 Exponential Coordinates of Rotation (Part 1 of 2)

Notes in svg. 4 August 2021

17th August 2021

• 3.2.3 Exponential Coordinates of Rotation (Part 2 of 2)

Notes in svg. 17 August 2021

Explanation of Rodrigues rotation formula From (http://www.cybernetia.co.uk/other/journalclub/modernroboticsrodrigues.html)

Original in 'Are quaternions good or evil?' From (http://www.cybernetia.co.uk/dnb/racequaternions.html)

24th August 2021

• 3.3.1 Homogeneous Transformation Matrices
• 3.3.1 Twists (Part 1)

Dzhanibekov effect 1:35 to 1:45 and 3:15 to 3:35 and 4:46 to 4:53

Notes in svg. 24 August 2021

31th August 2021

• 3.3.1 Twists (Part 2)
• 3.3.3 Exponential coordinates of rigid body motion

Notes in svg. 31 August 2021

14th September 2021

• 3.4 Wrenches
• Summary

Notes in svg. 14 September 2021