Lectures (Video)
- 1. Introduction
- 2. Spatial Descriptions
- 3. Spatial descriptions 2
- 4. Forward Kinematics 1
- 5. Forward Kinematics 2
- 6. Jacobians: Velocities
- 7. Jacobians: Explicit Form
- 8. Jacobians: Static Forces
- 9. Vision in Robotics
- 10. Inverse Kinematics, Trajectory generation
- 11. Dynamics: Acceleration and Inertia
- 12. Dynamics: Explicit Form
- 13. Control: PID control
- 14. Control: Joint space control
- 15. Control: Operational space control and Force control
- 16. Advanced Topics
Introduction to Robotics - Lecture 6
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Lecture 6 - Jacobians: Velocities
Instantaneous Kinematics, Jacobian, Jacobians - Direct Differentiation, Example 1, Scheinman Arm, Basic Jacobian, Position Representations, Cross Product Operator, Velocity Propagation, Example 2
Prof. Oussama Khatib
CS223A Introduction to Robotics, Winter 2007/2008 (Stanford University: Stanford Engineering Everywhere) http://see.stanford.edu Date accessed: 2009-01-21 License: Creative Commons Attribution 3.0 |
Lecture Material
Supplementary lecture material is listed below.1. Handout on Jacobian (336 KB pdf)
2. Assignment 3
3. Solutions for Assignment 3
