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Modern Robotics | Complete Robotics Course by Lynch & Park
Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion

Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion

Modern Robotics | Complete Robotics Course by Lynch & Park

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02:50 Modern Robotics, Chapter 11.2.1: Error Response
04:56 Modern Robotics, Chapter 12: Grasping and Manipulation
05:27 Modern Robotics, Chapter 11.6: Hybrid Motion-Force Control
02:46 Modern Robotics, Chapter 11.5: Force Control
07:13 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3)
05:33 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 2 of 3)
04:06 Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 1 of 3)
04:30 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 3 of 3)
06:03 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 2 of 3)
04:14 Modern Robotics, Chapter 11.3: Motion Control with Velocity Inputs (Part 1 of 3)
05:37 Modern Robotics, Chapter 11.2.2.2: Second-Order Error Dynamics
01:57 Modern Robotics, Chapter 11.2.2.1: First-Order Error Dynamics
04:21 Modern Robotics, Chapter 11.2.2: Linear Error Dynamics
04:15 Modern Robotics, Chapter 12.1.1: First-Order Analysis of a Single Contact
03:25 Modern Robotics, Chapter 11.1: Control System Overview
05:31 Modern Robotics, Chapter 10.7: Nonlinear Optimization
05:10 Modern Robotics, Chapter 10.6: Virtual Potential Fields
07:14 Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 2 of 2)
03:12 Modern Robotics, Chapter 10.5: Sampling Methods for Motion Planning (Part 1 of 2)
04:26 Modern Robotics, Chapter 10.4: Grid Methods for Motion Planning
03:05 Modern Robotics, Chapter 10.3: Complete Path Planners
09:26 Modern Robotics, Chapter 10.2.4: Graph Search
02:24 Modern Robotics, Chapter 10.2.3: Graphs and Trees
04:44 Modern Robotics, Chapter 10.2: C-Space Obstacles
04:33 Modern Robotics, Chapter 10.1: Overview of Motion Planning
02:11 Modern Robotics, Chapter 13.1: Wheeled Mobile Robots
06:20 Modern Robotics, Chapter 13.5: Mobile Manipulation
04:33 Modern Robotics, Chapter 13.4: Odometry
05:43 Modern Robotics, Chapter 13.3.4: Feedback Control for Nonholonomic Mobile Robots
05:03 Modern Robotics, Chapter 13.3.3: Motion Planning for Nonholonomic Mobile Robots
05:27 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 4 of 4)
05:39 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 3 of 4)
06:29 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 2 of 4)
04:08 Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4)
05:01 Modern Robotics, Chapter 13.3.1: Modeling of Nonholonomic Wheeled Mobile Robots
03:01 Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 2 of 2)
06:03 Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
04:46 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 3 of 3)
03:05 Modern Robotics, Chapter 12.3: Transport of an Assembly
05:17 Modern Robotics, Chapter 12.3: Manipulation and the Meter-Stick Trick
03:33 Modern Robotics, Chapter 12.2.4: Duality of Force and Motion Freedoms
04:05 Modern Robotics, Chapter 12.2.3: Force Closure
04:03 Modern Robotics, Chapter 12.2.2: Planar Graphical Methods
05:39 Modern Robotics, Chapter 12.2.1: Friction
04:08 Modern Robotics, Chapter 12.1.7: Form Closure
04:45 Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 2 of 2)
04:20 Modern Robotics, Chapter 12.1.6: Planar Graphical Methods (Part 1 of 2)
04:49 Modern Robotics, Chapter 12.1.3: Multiple Contacts
05:42 Modern Robotics, Chapter 12.1.2: Contact Types: Rolling, Sliding, and Breaking
03:28 Modern Robotics, Chapter 3.2.2: Angular Velocities
08:28 Modern Robotics, Chapter 5: Velocity Kinematics and Statics
03:28 Modern Robotics, Chapter 4: Forward Kinematics Example
04:41 Modern Robotics, Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame
06:31 Modern Robotics, Chapter 4.1.1: Product of Exponentials Formula in the Space Frame
03:01 Modern Robotics, Chapter 3.4: Wrenches
05:00 Modern Robotics, Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion
02:39 Modern Robotics, Chapter 3.3.2: Twists (Part 2 of 2)
05:00 Modern Robotics, Chapter 3.3.2: Twists (Part 1 of 2)
06:22 Modern Robotics, Chapter 3.3.1: Homogeneous Transformation Matrices
03:43 Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2)
02:04 Modern Robotics, Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2)
05:59 Modern Robotics, Chapter 5.1.1: Space Jacobian
04:14 Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 2 of 2)
02:54 Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 1 of 2)
02:10 Modern Robotics, Chapter 3: Introduction to Rigid-Body Motions
01:35 Modern Robotics, Chapter 2.5: Task Space and Workspace
04:21 Modern Robotics, Chapter 2.4: Configuration and Velocity Constraints
03:52 Modern Robotics, Chapter 2.3.2: Configuration Space Representation
04:37 Modern Robotics, Chapter 2.3.1: Configuration Space Topology
05:43 Modern Robotics, Chapter 2.2: Degrees of Freedom of a Robot
05:15 Modern Robotics, Chapter 2.1: Degrees of Freedom of a Rigid Body
02:12 Modern Robotics, Chapters 2 and 3: Foundations of Robot Motion
00:43 Modern Robotics Videos Acknowledgments (Kevin Lynch)
06:13 Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2)
06:37 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 2 of 3)
05:39 Modern Robotics, Chapter 9.4: Time-Optimal Time Scaling (Part 1 of 3)
03:00 Modern Robotics, Chapter 9.3: Polynomial Via Point Trajectories
03:08 Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 2 of 2)
05:41 Modern Robotics, Chapters 9.1 and 9.2: Point-to-Point Trajectories (Part 1 of 2)
06:07 Modern Robotics, Chapter 8.9: Actuation, Gearing, and Friction
04:15 Modern Robotics, Chapter 8.7: Constrained Dynamics
01:32 Modern Robotics, Chapter 8.6: Dynamics in the Task Space
03:44 Modern Robotics, Chapter 8.5: Forward Dynamics of Open Chains
05:53 Modern Robotics, Chapter 8.3: Newton-Euler Inverse Dynamics
04:05 Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2)
01:33 Modern Robotics: Introduction to the Lightboard
05:22 Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix
05:36 Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)
06:42 Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)
08:34 Modern Robotics, Chapter 7: Kinematics of Closed Chains
04:47 Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2)
05:04 Modern Robotics, Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2)
04:03 Modern Robotics, Chapter 6: Inverse Kinematics of Open Chains
05:44 Modern Robotics, Chapter 5.4: Manipulability
06:37 Modern Robotics, Chapter 5.3: Singularities
02:54 Modern Robotics, Chapter 5.2: Statics of Open Chains
04:51 Modern Robotics, Chapter 5.1.2: Body Jacobian