This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See [ Ссылка ] for information on the book, free software, and other materials.
This video introduces task-space (or operational space) dynamics, where the joint-space robot dynamics are expressed in an equivalent form, but replacing the joint forces and torques, joint velocity and acceleration, and the joint-space mass matrix with the end-effector wrench, the end-effector twist and its time derivative, and the end-effector mass matrix, respectively.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
Playlist for Chapter 8: [ Ссылка ]
Playlist for all book videos: [ Ссылка ]
YouTube channel with all playlists: [ Ссылка ]
Wiki for the book, including software and other supplements: [ Ссылка ]
Modern Robotics is now a series of online courses on Coursera! [ Ссылка ]
