YunTech elearning

1. Introduction
Degree of freedom
Industrial robots

2. Spatial descriptions and transformations
Positions, orientations, and frames
Mappings
Transformations

3. Manipulator kinematics
Link description
Link transformations

4. Inverse manipulator kinematics
Algebraic vs. geometric
Solvability

5. Jacobians
Velocities and static forces
Singularities

6. Trajectory generation
Trajectory planning
Joint space and Cartesian space schemes