Robotics Fundamentals
Mathematical and engineering foundations of robotics, from coordinate systems to SLAM, with every concept traced to underlying mathematical principles.
Contents:
- Robotics Overview — Overview and history of robotics
- Coordinate Systems — Homogeneous transforms, rotation representations
- Kinematics — Forward/inverse kinematics, DH parameters, Jacobian
- Dynamics — Lagrangian mechanics, Newton-Euler recursion
- Motion Planning — RRT, PRM, trajectory optimization
- Control Theory — PID, impedance control, force control
- SLAM — Visual SLAM, LiDAR SLAM, graph optimization