README.md

COMPAS II: Robotic fundamentals

Introduction to robotics: 1) anatomy of an industrial robot, 2) coordinate systems, 3) transformations.

Brief intro to kinematic functions and path planning.

👉 Slides 📜 Assignment 01

Examples

• Frame

  • Construct a frame
  • Point in frame
  • Frame in frame
  • Box from world to local
  • Box from world to local in Rhino

• Transformation

  • Examples
  • Inverse transformation
  • Pre-multiplication
  • Pre vs post multiplication
  • Matrix decomposition
  • Transform point and vector
  • Transform multiple
  • Change of basis
  • Transform between frames
  • Box from world to local in Rhino

• Rotation

  • Construct a rotation
  • Robot TCP orientations
  • Euler angles
  • Axis angle
  • Quaternions