Link: length (signed distance from joint i-1 to i), twist (angle from joint i-1 to i), force (linear motion) and torque (rotational motion)
Joint -description differ by joint types
Planning: Given an initial state, goal and model, finding a sequence of actions to achieve a goal.
Planning focuses on improving computational-efficiency
It requires two different kinds of reasoning
1. Task planning -task-level choices
2. Motion planning -motion-level choices
What topics
Robot kinematics problem
How to describe position and orientation of the manipulator's end-effector relative to the base of the manipulator, given the function of the joint variables?
Forward kinematics: Using frame, compute the end effector's trasform wrt the base
How to describe the joint variables, given the end-effector's position and orientation?
Multiple solutions may exist. Typically choose the one that is closest to the current joint angle/avoid collision.
Robot dynamics problem
When the joints move at certain force and torque, what the velocity of the end-effector is?; Predicting how a robot will move in responseto applied force
Forward dynamics
When the robot motion/trajectory is given, what is the forces and torques required at the robot's joints?
Inverse dynamics; Most of the manipulators have joint angles at which Jacobian becomes singular, which makes the problem harder.