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2015/5/20
Ch2 Robot Kinematics and Dynamics Recommended reading and references
Content
Pose Representation and Coordinate 《机器人技术基础》,熊友伦主编,武汉:
Transformations 华中科技大学出版社,1996
Kinematics John J. Craig, Introduction to Robotics:
Dynamics Mechanics and Control, 3rd Edition,
Trajectory planning Prentice-Hall, 2003
2015/5/20 1 2015/5/20 2
2.1 Pose Representation and Coordinate 2.1 Pose Representation and Coordinate
Transformations Introduction Transformations Introduction
A fundamental requirement in robotics and computer vision 1. Robot Degree of Freedom
is to represent the position and orientation of objects in an
environment. Such objects include robots, cameras, The degree of freedom (DOF) of a mechanical
workpieces, obstacles and paths. system is the number of independent parameters
that define its configuration.
The position and orientation of
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