1. Manipulation Umashankar Nagarajan

2. Rotation 2/28/2013Umashankar Nagarajan2 Z A Y A X A Z B Y B X B

3. Rotation Matrix about X axis about Y axis about Z axis 2/28/2013Umashankar Nagarajan3

4. Properties of a Rotation Matrix 2/28/2013Umashankar Nagarajan4 Orthonormal Matrix

5. Euler Angles 2/28/2013Umashankar Nagarajan5

6. Transformation 2/28/2013Umashankar Nagarajan6 Z A Y A X A Z B Y B X B

7. Transformation 2/28/2013Umashankar Nagarajan7

8. Manipulator Kinematics Common joint types with one DOF Revolute Prismatic 2/28/2013Umashankar Nagarajan8

9. Forward Kinematics 2/28/2013Umashankar Nagarajan9

10. THE END 2/28/2013Umashankar Nagarajan10