Homogeneous Transformation Matrices in Robotics | Fundamentals of Robotics | Lesson 14
🌟 Contents 🌟
💎 (00:00) Introduction
💎 (01:27) Homogeneous Transformation Matrices to Express Configurations in Robotics
💎 (03:15) Special Euclidean Group SE(3)
💎 (04:19) Special Euclidean Group SE(2)
💎 (06:25) Properties of Homogeneous Transformation Matrices to Express Configurations in Robotics
💎 (09:34) Uses of Homogeneous Transformation Matrices
💎 (18:46) Fixed-frame Transformation
💎 (19:22) Body-frame Transformation
💎 (20:00) Examples for fixed-frame and body-frame transformations
💎 (24:09) Concluding Remarks
In this lesson, we will start with configurations, and we will learn about homogeneous transformation matrices that are great tools to express configurations (both positions and orientations) in a compact matrix form.
This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
https://www.mecharithm.com/homogenous...
Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.
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References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
📃 Articles:
Cao, C.T., Do, V.P. and Lee, B.R., 2019. A novel indirect calibration approach for robot positioning error compensation based on neural network and hand-eye vision. Applied Sciences, 9(9), p.1940.
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