Monthly Archives: March 2020
Calculate Inverse Kinematics
本文主要参考mathworks的文章(https://www.mathworks.com/discovery/inverse-kinematics.html) Robot kinematics (Kinematics is the study of motion without considering the cause of the motion, such as forces and torques.) involves deriving equations to describe an analytical relationship between the robot’s joint parameters and the end-effector. There are 2 ways to derive the equations of motion: Forward kinematics. Given the joint angle values, forward…
From Chris
BFS, DFS, A* (be comfortable implementing them on ordered/unordered graphs, trees, and matrices). Memorize binary search algorithm (both iterative and recursive version), and be comfortable modifying it to work for other problems besides the standard “find element within sorted list”, e.g. “find element in rotated sorted array”. Memorize the sliding window approach, this will help…
Convex Optimization and Machine Learning
Books, Dissertation and Lecture Notes Books Lecture Notes on Nonlinear Systems and Control(2019), by Peter Al Hokayem, Eduardo Gallestey Functional Analysis Notes (2011) Mr. Andrew Pinchuck CSC477: Introduction to Mobile Robotics, Fall 2019 Nonlinear state estimation, by Kenneth R. Muske, and Thomas F. Edgar Constructive nonlinear control, by Rodolphe Sepulchre, Mrdjan Janković, Petar Kokotović Control…
Motion/Path Planning and Behavioral Planning
Books, Dissertation and Lecture Notes Books Decision-making and programming, by V. V. Kolbin, Translated from Russian by KM. Donets Ph.D./Master Dissertation Parallel algorithms for real-time motion planning Lecture Notes CS 287H Algorithmic Foundations of Human-Robot (and Human-AI) Interaction, by Anca Dragan(UC Berkeley) Papers you should read Surveys A Review of Motion Planning Techniques for Automated…
Dynamical system and control theory
Books, Dissertation and Lecture Notes Books Lecture Notes on Nonlinear Systems and Control(2019), by Peter Al Hokayem, Eduardo Gallestey Functional Analysis Notes (2011) Mr. Andrew Pinchuck CSC477: Introduction to Mobile Robotics, Fall 2019 Nonlinear state estimation, by Kenneth R. Muske, and Thomas F. Edgar Constructive nonlinear control, by Rodolphe Sepulchre, Mrdjan Janković, Petar Kokotović Control…