Industrial Robotics: Kinematics and Control

A work cell as closed forms: homogeneous transforms and their inverse, camera-to-base point transfer, the four ways a controller writes an orientation (Rodrigues, roll-pitch-yaw, axis-angle, quaternion), Denavit-Hartenberg links and whole chains, forward and inverse kinematics of a 2-link arm, its Jacobian and manipulability, a damped least-squares velocity step, the statics that Jacobian transpose gives you, gravity compensation, a differential-drive base and its odometry, PID, and the cubic, trapezoidal and speed-limited moves a planner actually emits.

Learning Objectives

• →Build, invert, and apply 4x4 homogeneous transforms without np.linalg.inv
• →Convert an orientation between all four working representations: axis-angle both ways, ZYX roll-pitch-yaw, and a unit quaternion
• →Build a link transform from Denavit-Hartenberg parameters and compose a whole chain into a base-to-tool pose
• Compute forward and closed-form inverse kinematics of a planar 2-link arm, including both elbow solutions