Robot Basics: Representation, Rotation and Velocity
It offers foundational knowledge for readers interested in robotics, but is incremental as it reviews established concepts without new methods or data.
The article provides an introduction to classic robotics basics, covering topics like robot representation, rotation, and velocity transformations, and serves as a foundation for modern intelligent robot control algorithms.
In this article, we plan to provide an introduction about some basics about robots for readers. Several key topics of classic robotics will be introduced, including robot representation, robot rotational motion, coordinates transformation and velocity transformation. By now, classic rigid-body robot analysis is still the main-stream approach in robot controlling and motion planning. In this article, no data-driven or machine learning based methods will be introduced. Most of the materials covered in this article are based on the rigid-body kinematics that the readers probably have learned from the physics course at high-school or college. Meanwhile, these classic robot kinematics analyses will serve as the foundation for the latest intelligent robot control algorithms in modern robotics studies.