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Robotics Book Notes (initial draft)
(Hades.mech.northwestern.edu)
table of contents
ch 01 (preview)
ch 02 (configuration)
ch 03 (rigid body motions)
ch 04 (forward kinematics)
ch 05 (velocity kinematics)
ch 06 (inverse kinematics)
ch 07 (kinematics of closed chains)
ch 08 (dynamics of open chains)
ch 09 (trajectory generation)
ch 10 (motion planning)
ch 11 (robotics controls)
ch 12 (grasping & manipulation)
ch 13 (wheeled, mobile robotics)
apndx A (useful formaulas)
apndx B (rotation representations)
capndx C (denavit hartenberg parameters)
apndx D (optimization & lagrange multipliers)
index
