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Homogeneous Transformation Matrices in Robotics - Fundamentals of Robotics

Mecharithm - Robotics and Mechatronics via YouTube

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Overview

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This lesson introduces homogeneous transformation matrices for representing robotic configurations, covering SE(2), SE(3), matrix properties, and fixed- and body-frame transformations with examples.

Syllabus

​​ Introduction
​​ Homogeneous Transformation Matrices to Express Configurations in Robotics
​ Special Euclidean Group SE3
​​ Special Euclidean Group SE2
​​ Properties of Homogeneous Transformation Matrices to Express Configurations in Robotics
​​ Uses of Homogeneous Transformation Matrices
​​ Fixed-frame Transformation
​​ Body-frame Transformation
​​ Examples for fixed-frame and body-frame transformations
​​ Concluding Remarks

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Mecharithm - Robotics and Mechatronics

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