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1. Configuration space C-space

2. Rigid-Body Motion

3. Forward/Inverse Kinematics FK/IK

4. Trajectory Generation

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1. Configuration space C-space

space of all configurations of the body

Degrees for Freedom DOF

• dimension of configuration space
• Planar - 3 dimension (2 pos + 1 ori), 6 dimension (3 pos + 3 ori)
• DOF of robot = total DOF of rigid body (6) - constraints of motions on the rigid bodies
  • prismatic/revolute joints - 5 constraints

Open-chain (all joints are independent)

• sum of freedoms by each joint

Closed-chain

• Grübler’s formula - for calculating DoF

Task space - space of positions and orientations of the end-effector frame

2. Rigid-Body Motion