Forward and Inverse Kinematics
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01. Setting up the Problem
02. Coordinate Frames and Vectors
03. Rotation Matrices in 2D
04. Rotation Matrices in 3D
05. Quiz: Build a Rotation Matrix
06. Rotations in Sympy
07. Composition of Rotations
08. Euler Angles from a Rotation Matrix
09. Translations
10. Homogeneous Transforms and their Inverse
11. Composition of Homogeneous Transforms
12. Denavit-Hartenberg Parameters
13. DH Parameter Assignment Algorithm
14. DH Steps 1-4
15. DH Steps 5-8
16. DH Parameter Table
17. Forward Kinematics
18. Inverse Kinematics
19. Inverse Kinematics Example
20. Wrap Up
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16. DH Parameter Table
DH Parameter Table