#### Rigid Body Dynamics

masterclass

masterclass

lesson

As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

lesson

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.

lesson

A more efficient trajectory has a trapezoidal velocity profile.

lesson

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

lesson

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.

lesson

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

lesson

We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.

lesson

We summarise the important points from this lecture.

lesson

The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.