[기초] 1. Introduction

이 글은 필자가 "Introduction to Robotics" 책을 읽고 정리한 글입니다.

 

• Location: position and orientation --> Attach a coordinate system(frame)
• Kinematics: science of motion that treats motion without regard to the focus which cause it.
• Manipulator consist of rigid links, which are connected by joints that allow relative motion of neighboring links. Some manipulators contain sliding joints, in which the relative displacement between link is a translation, sometimes called joint offset