Chap.3 Manipulator kinematics

3.2 Link Description

• link length
• link twist

3.3 Link-Connection Description

Link parameters

Denavit–Hartenberg notation

3.5 Manipulator Kinematics

3.6 Actuator Space, Joint Space, and Cartesian Space

Cartesian space / task-oriented space / operational space

3.8 Frames with Standard Names

• The base frame {B}
• The station frame {S}: task frame / world frame / universe frame
• The wrist frame {W}
  • origin: wrist of the manipulator
  • defined related to the base frame
• The tool frame {T}
  • always specified with respect to the wrist frame
• The goal frame {G}
  • always specified with respect to the station frame

Chap.4 Inverse manipulator kinematics

4.2 Solvabilty

• dextrous workspace
• reachable workspace

Method of solution

• closed-form solutions
• numerical solutions

4.8 The Standard Frames

4.10 Repeatability and Accuracy

• taught point
• computed point

4.11 Computational Considerations

Chap.5 Jacobians: velocities and static forces

5.2 Notion for time-varying position and orientation

• angular velocity vector

5.3 Linear and rotation velocity of rigid bodies

5.4 More on angular velocity

• angular-velocity matrix (skew-symmetric)
• angular-velocity vector

5.6 Velocity "propagation" from link to link

5.7 Jacobians

5.8 Singularities

Chap.7 Trajectory Generation

7.2 General considerations in path description and generation

• via points
• path points = initial point + via points + final point
• motion smooth

7.3 Joint-space schemes

Cubic polynomials

Linear function with parabolic blends

• through point: a path point through which we force the manipulator to pass exactly

7.4 Cartesian-space schemes

7.5 Geometric problems with Cartesian paths

1. intermediate points unreachable
2. high joint rates near singularity
3. start and goal reachable in different solutions

7.6 Path generation at run time