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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.

We summarise the important points from this lecture.

We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

A characteristic of inverse kinematics is that there is often more than one solution, that is, more than one set of joint angles gives exactly the same end-effector pose.

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

We consider a robot, which has two rotary joints and an arm.

The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.