机器人学-笔记-斯坦福大学公开课-class 1

This course is going to really cover the foundations of robotics(mathematical models).

模型的运动学特性， 驱动系统actuate the system, motors, 正确的转矩让robort move，

1. if you want to control the robot, you need to know its position -- sensor(GPS(x,y), encoders(one freedom)).

　　by integration from an initial known position or using vision system to locate at least one or two objects.

　　the relative position. the velocities could be determined as we move.

2. find the relationship between all these vision bodies.

3. kinematics model(运动学模型)

4. when the things is moving, it generates dynamics.(动态力)，惯性力，连接件。动力学特性。

5. control the robot. plan the motions. interact with the world.

 

natural way to control the robot.

all the positions and orientations of the mechanism itself -- need the descriptions of positions and orientations of objects in space --

deal with the transformation between frames attached to these different objects.

雅克比矩阵