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 11
|
Get the Flash Player to view video.
Lecture 11 - Dynamics: Acceleration and Inertia
Joint Space Dynamics, Newton-Euler Algorithm, Inertia Tensor, Example, Newton-Euler Equations, Lagrange Equations, Equations of Motion
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 Dynamics (248 KB pdf)
2. Assignment 5
3. Solutions for Assignment 5
