Kinematics and Dynamics

This page contains links to Nick's notes on multi-link kinematics and dynamics. These notes begin with 2D systems and then continue with 3D systems.

Lesson 1 - Degrees of Freedom, Complex Vector Notation

Lesson 2 - Vector Loop Equations, Newton-Raphson Solver

Lesson 3 - Inverse Kinematics, Lagrange Multipliers

Lesson 4 - Calculating Velocity and Acceleration

Lesson 5 - Inverse Dynamics

Lesson 6 - Inverse Dynamics for Redundant Systems

Lesson 7 - 3D Basics, Matrix Exponentials

Lesson 8 - 3D Rigid Body Motion, Coordinate Transformations

3MB

machineDesign08.pdf

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Lesson 9 - 3D Rigid Body Velocity

5MB

machineDesign09.pdf

PDF

Open

Lesson 10 - 3D Rigid Body Manipulator Forward Kinematics

2MB

machineDesign10-1.pdf

PDF

Open

References

2D material comes from: Norton RL (1999) Design of machinery. 5th Ed. New York: McGraw-Hill.

3D material comes from: Murray RM, Li Z, Sastry SS (1994) A Mathematical Introduction to Robotic Manipulation. Book, https://doi.org/10.1201/9781315136370. (This is available online as a pdf; just search Google Scholar).

A more up-to-date reference for the 3D material is: Lynch KM, Park FC (2017) Modern Robotics - Mechanics, Planning, and Control. (Legal preprint pdf: http://hades.mech.northwestern.edu/images/7/7f/MR.pdf). This book has an accompanying YouTube playlist: https://youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx.

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hashtagLesson 1 - Degrees of Freedom, Complex Vector Notation

hashtagLesson 2 - Vector Loop Equations, Newton-Raphson Solver

hashtagLesson 3 - Inverse Kinematics, Lagrange Multipliers

hashtagLesson 4 - Calculating Velocity and Acceleration

hashtagLesson 5 - Inverse Dynamics

hashtagLesson 6 - Inverse Dynamics for Redundant Systems

hashtagLesson 7 - 3D Basics, Matrix Exponentials

hashtagLesson 8 - 3D Rigid Body Motion, Coordinate Transformations

hashtagLesson 9 - 3D Rigid Body Velocity

hashtagLesson 10 - 3D Rigid Body Manipulator Forward Kinematics

hashtagReferences

Lesson 1 - Degrees of Freedom, Complex Vector Notation

Lesson 2 - Vector Loop Equations, Newton-Raphson Solver

Lesson 3 - Inverse Kinematics, Lagrange Multipliers

Lesson 4 - Calculating Velocity and Acceleration

Lesson 5 - Inverse Dynamics

Lesson 6 - Inverse Dynamics for Redundant Systems

Lesson 7 - 3D Basics, Matrix Exponentials

Lesson 8 - 3D Rigid Body Motion, Coordinate Transformations

Lesson 9 - 3D Rigid Body Velocity

Lesson 10 - 3D Rigid Body Manipulator Forward Kinematics

References