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Lecture
Kinematics Basics: Modeling & Transformations
Description
This lecture introduces the theoretical basics of kinematics, focusing on the geometry of motion and its modeling. Topics covered include joint coordinates, operational variables, wrist configurations, geometric models, passive and active transformations, rotation matrices, homogeneous coordinates, and combining translation with rotation. The instructor emphasizes the importance of kinematics in robot modeling and the various mathematical concepts involved in representing motion in space.
Official source
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