ENG-654

Kinematics-Grounded Motion Planning for Robots

Reusable HTML/CSS/JS presentation template for the eight course lectures.

Lecture 1
Introduction, Frames, Transformations, and DH Modelling Lecture 2
Product of Exponentials and Reading URDF Models Lecture 3
Analytical IK of a Representative 3R Robot Lecture 4
Wrist-Partitioned 6R and 7R IK Lecture 5
Jacobian-Based Singularity Analysis of 3R Robots Lecture 6
IKS Distribution, Aspects, and Cuspidal Properties Lecture 7
Joint-Space and Workspace Planning Lecture 8
Motion Planning for Cuspidal and Redundant Robots