Lecture
This lecture covers the geometric modeling of a 6 DOF parallel kinematics system, focusing on the Inverse Geometric Model (IGM) and the Direct Geometric Model (DGM). The instructor explains the numerical solution using the Newton-Raphson method based on the Jacobian matrix. The lecture also discusses the importance of the Jacobian matrix in linking joint speeds to operational speeds, selecting motors, and projecting forces between joint and tool spaces.