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Modern Robotics

Modern Robotics

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Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms

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Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms

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Modern Robotics

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  1. 1 Modern Robotics: Introduction to the Lightboard
  2. 2 Modern Robotics Videos Acknowledgments (Kevin Lynch)
  3. 3 Modern Robotics, Chapters 2 and 3: Foundations of Robot Motion
  4. 4 Modern Robotics, Chapter 2.1: Degrees of Freedom of a Rigid Body
  5. 5 Modern Robotics, Chapter 2.2: Degrees of Freedom of a Robot
  6. 6 Modern Robotics, Chapter 2.3.1: Configuration Space Topology
  7. 7 Modern Robotics, Chapter 2.3.2: Configuration Space Representation
  8. 8 Modern Robotics, Chapter 2.4: Configuration and Velocity Constraints
  9. 9 Modern Robotics, Chapter 2.5: Task Space and Workspace
  10. 10 Modern Robotics, Chapter 3: Introduction to Rigid-Body Motions
  11. 11 Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 1 of 2)
  12. 12 Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 2 of 2)
  13. 13 Modern Robotics, Chapter 3.2.2: Angular Velocities
  14. 14 Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2)
  15. 15 Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2)
  16. 16 Modern Robotics, Chapter 3.3.1: Homogeneous Transformation Matrices
  17. 17 Modern Robotics, Chapter 3.3.2: Twists (Part 1 of 2)
  18. 18 Modern Robotics, Chapter 3.3.2: Twists (Part 2 of 2)
  19. 19 Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
  20. 20 Modern Robotics, Chapter 3.4: Wrenches
  21. 21 Modern Robotics, Chapter 4.1.1: Product of Exponentials Formula in the Space Frame
  22. 22 Modern Robotics, Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame
  23. 23 Modern Robotics, Chapter 4: Forward Kinematics Example
  24. 24 Modern Robotics, Chapter 5: Velocity Kinematics and Statics
  25. 25 Modern Robotics, Chapter 5.1.1: Space Jacobian
  26. 26 Modern Robotics, Chapter 5.1.2: Body Jacobian
  27. 27 Modern Robotics, Chapter 5.2: Statics of Open Chains
  28. 28 Modern Robotics, Chapter 5.3: Singularities
  29. 29 Modern Robotics, Chapter 5.4: Manipulability
  30. 30 Modern Robotics, Chapter 6: Inverse Kinematics of Open Chains
  31. 31 Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2)
  32. 32 Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2)
  33. 33 Modern Robotics, Chapter 7: Kinematics of Closed Chains
  34. 34 Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)
  35. 35 Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)
  36. 36 Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix
  37. 37 Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2)
  38. 38 Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2)
  39. 39 Modern Robotics, Chapter 8.3: Newton-Euler Inverse Dynamics
  40. 40 Modern Robotics, Chapter 8.5: Forward Dynamics of Open Chains
  41. 41 Modern Robotics, Chapter 8.6: Dynamics in the Task Space
  42. 42 Modern Robotics, Chapter 8.7: Constrained Dynamics
  43. 43 Modern Robotics, Chapter 8.9: Actuation, Gearing, and Friction
  44. 44 Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2)
  45. 45 Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2)
  46. 46 Modern Robotics, Chapter 9.3: Polynomial Via Point Trajectories
  47. 47 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3)
  48. 48 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3)
  49. 49 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3)
  50. 50 Modern Robotics, Chapter 10.1: Overview of Motion Planning
  51. 51 Modern Robotics, Chapter 10.2: C-Space Obstacles
  52. 52 Modern Robotics, Chapter 10.2.3: Graphs and Trees
  53. 53 Modern Robotics, Chapter 10.2.4: Graph Search
  54. 54 Modern Robotics, Chapter 10.3: Complete Path Planners
  55. 55 Modern Robotics, Chapter 10.4: Grid Methods for Motion Planning
  56. 56 Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2)
  57. 57 Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2)
  58. 58 Modern Robotics, Chapter 10.6: Virtual Potential Fields
  59. 59 Modern Robotics, Chapter 10.7: Nonlinear Optimization
  60. 60 Modern Robotics, Chapter 11.1: Control System Overview
  61. 61 Modern Robotics, Chapter 11.2.1: Error Response
  62. 62 Modern Robotics, Chapter 11.2.2: Linear Error Dynamics
  63. 63 Modern Robotics, Chapter 11.2.2.1: First-Order Error Dynamics
  64. 64 Modern Robotics, Chapter 11.2.2.2: Second-Order Error Dynamics
  65. 65 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3)
  66. 66 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3)
  67. 67 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3)
  68. 68 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3)
  69. 69 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3)
  70. 70 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3)
  71. 71 Modern Robotics, Chapter 11.5: Force Control
  72. 72 Modern Robotics, Chapter 11.6: Hybrid Motion-Force Control
  73. 73 Modern Robotics, Chapter 12: Grasping and Manipulation
  74. 74 Modern Robotics, Chapter 12.1.1: First-Order Analysis of a Single Contact
  75. 75 Modern Robotics, Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking
  76. 76 Modern Robotics, Chapter 12.1.3: Multiple Contacts
  77. 77 Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2)
  78. 78 Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2)
  79. 79 Modern Robotics, Chapter 12.1.7: Form Closure
  80. 80 Modern Robotics, Chapter 12.2.1: Friction
  81. 81 Modern Robotics, Chapter 12.2.2: Planar Graphical Methods
  82. 82 Modern Robotics, Chapter 12.2.3: Force Closure
  83. 83 Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms
  84. 84 Modern Robotics, Chapter 12.3: Manipulation and the Meter-Stick Trick
  85. 85 Modern Robotics, Chapter 12.3: Transport of an Assembly
  86. 86 Modern Robotics, Chapter 13.1: Wheeled Mobile Robots
  87. 87 Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
  88. 88 Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
  89. 89 Modern Robotics, Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots
  90. 90 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4)
  91. 91 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4)
  92. 92 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4)
  93. 93 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4)
  94. 94 Modern Robotics, Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots
  95. 95 Modern Robotics, Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots
  96. 96 Modern Robotics, Chapter 13.4: Odometry
  97. 97 Modern Robotics, Chapter 13.5: Mobile Manipulation

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