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Chapter 02 covers the foundations of robot kinematics, focusing on the representation of position and orientation in three-dimensional space through coordinate transformations and homogeneous transformations. It details the use of rotation matrices for transforming coordinates between different frames and introduces concepts such as Euler angles and the inverse problem for computing angles from rotation matrices. Additionally, it discusses homogeneous transformations as a compact representation of rotation

Author

lyna.medjahed

Language

EN