#### Task and Configuration space

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We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.

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We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.

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A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.

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To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.

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For a redundant robot the inverse kinematics can be easily solved using a numerical approach.

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We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

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For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.

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An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.

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We consider a robot with four joints that moves its end-effector in 3D space.

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We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.