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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.

We repeat the process of the last section but this time consider it as an algebraic problem.

We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.

We summarise the important points from this lecture.