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Handout7 Dynamics
Handout7 Dynamics
Handout7 Dynamics
Oussama Khatib
Lecture 1 & 2
Manipulator
We can define each link with three vectors with respect to the base link.
Each vector will have 3 parameters and therefore for each link there will
9 parameters. So total, for n links it will be 9n parameters.
Joint coordinates
Joint space
Operational space
Redundancy
A robot is said to be redundant
if the no of DPF of the end -
effector is less than the number
of DOF of the robot (system).
Degree of redundancy =