Modern Robotics
Modern Robotics is a structured set of notes on robot motion, from rigid-body transforms and screw theory to Jacobians, inverse kinematics, dynamics, and motion planning. The series connects the mathematical foundations to an interactive browser implementation.
The same ideas are implemented in C++ for the browser demo, where kinematics, planning, and dynamics can be inspected interactively.
How to read this series
- Rigid-body motion and screw theory builds the geometric language of robot motion.
- Frames and Lie groups connect coordinate representations to the Product of Exponentials.
- Jacobians and inverse kinematics describe velocity mappings and target-pose solving.
- Dynamics and motion planning connect the model to executable trajectories and control.
- Interactive implementation demonstrates the theory in a browser.