机器人学-笔记-斯坦福大学公开课-class 2

kinematics

1. manipulator is defined by a set of links connected trough joints.

2. joint type: 移动，转动

3. configuration parameters

4. constraints, freedom.

5. planning motions in configuraiton coordinates

6. degress of redundancy.

7. rotation matrix.

原文：http://www.cnblogs.com/Aurora-Aurora/p/4614728.html