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MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL
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2 Configuration Space 11
2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12
2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15
2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 Gr¨ubler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Configuration Space: Topology and Representation . . . . . . . . 23
2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23
2.3.2 Configuration...
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MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL
Last document update:
ago
Preview 1 2 Configuration Space 11 2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12 2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15 2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.2.2 Gr¨ubler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17 2.3 Configuration Space: Topology and Representation . . . . . . . . 23 2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23 2.3.2 Configuration...
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