Group session slides

Slides and notes from the group sessions will be published here. You can also find older group session notes on GitHub here.

Topic	Slides	Description
Introduction	Intro slides	Administrative stuff: mails, assignments, and learning materials General info about the course Expected prior knowledge Recap: manipulator structure, drawings, workspace, and DOFs.
Transformations	Homogeneous transforms	Methods for finding homogeneous transforms Example calculation Compositions of rotations Parametrizations of rotations Basic homogeneous transforms
Forward kinematics	DH parameters	Link to a good Video explaining DH parameters
Inverse kinematics	Inverse kinematics part 1 Algebra_approach Geometric approach 2021_exam_example	Methods: geometric and analytical Geometric approach example Analyitcal approach example Trigonometric formulas
Velocity kinematics	Velocity kinematics 2 Jacobian and singularities code	Jacobian matrix and how to find it How to use the Jacobian Example calculations Singularities and how to find them
Dynamics	Dynamics part 1 Notes from old group teacher
ROS	Ros tutorial (updated) publisher.py
Control theory	Assingment 4 notes!! Control theory part 1 Control theory part 2
Extra stuff	Example code sympy Dynamics and control theory repetition Repetisjon og noen oppgaver

Notes from the previous group teachers:

2021	Slides
Introduction	slides
Transformations	slides
Forward kinematics	notes, draft, solutions
Inverse kinematics	session 1, session 2
Velocity kinematics	session 1, session 2
Dynamics	session 1, session 2
Control Theory	session 1, session 2
Extra curricular	slides, inspera (eng), inspera (norsk)