#### Introduction to Rigid-Body Dynamics

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We will learn about the forces that are exerted on a robot’s joint by gravity acting on links, friction, and the coupling forces where the motion of one joint imparts a force on other joints.

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We will learn about the forces that are exerted on a robot’s joint by gravity acting on links, friction, and the coupling forces where the motion of one joint imparts a force on other joints.

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We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

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For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

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We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.

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Let’s recap the important points from the topics we have covered about human depth perception, display of 3D images and estimating 3D scene structure using stereo and other types of sensors.