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Lecture
Robotics Kinematics
Description
This lecture covers rotation matrices, translations, homogeneous rotation matrices, rotation around an arbitrary point, and direct geometric modeling of serial robots. The instructor explains the methodology to establish the Denavit-Hartenberg parameters in four steps, the Denavit-Hartenberg parameters of a 6 DOF robot, and the sequence of movements for a 6 DOF robot. The lecture also delves into defining joint variables, positions of reference, geometric parameters, and chaining serially-linked movements.
Official source
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