Robot Dynamics Lecture Notes - ETH Z

← Back to document page

Robot Dynamics Lecture NotesYouJanuary 6, 2017Contents1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . of Positions . . . . . . . . . . . . . . . . . .6Cartesian coordinates . . . . . . . . . . . . . . . . . . . . . .6Cylindrical coordinates.

m number of end-effector configuration parameters m0 number of operational space coordinates = minimal number of end-effector configuration parameters machine precision x the star stands for a desired value q generalized coordinates J Jacobian matrix JA analytical Jacobian matrix J0 basic Jacobian matrix N = N(J) null-space projector matrix 2

  Number, Matrix