Lecture
This lecture covers the concept of Direct Geometric Modeling (DGM) in kinematics, focusing on forward kinematics and the operational coordinates derived from joint variables. It explains the position of a point, such as the Tool Center Point (TCP), and orientation using methods like quaternions. The lecture delves into examples of DGM for robots like SCARA, emphasizing the definition of joint variables, reference positions, and robot parameters. It also discusses the challenges of applying DGM to 6 Degrees of Freedom (DOF) robots and the use of homogeneous matrices. Additionally, it explores inverse geometric modeling, the complexity of solutions, and the significance of posture in redundant robots.