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Introduction to Robotics - Lecture 8

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Lecture 8 - Jacobians: Static Forces

Scheinman Arm - Demo, Kinematic Singularity, Example - Kinematic Singularity, Puma Simulation, Resolved Rate Motion Control, Angular/Linear - Velocities/Forces, Velocity/Force Duality, Virtual Work, Example

Prof. Oussama Khatib
CS223A Introduction to Robotics, Winter 2007/2008
(Stanford University: Stanford Engineering Everywhere)
Date accessed: 2009-01-21
License: Creative Commons Attribution 3.0

Lecture Material

Supplementary lecture material is listed below.

1. Handout on Jacobian (336 KB pdf)
2. Assignment 3
3. Solutions for Assignment 3



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