Modern Robotics Videos

This page is under construction. Videos covering the whole book should be available by October 2017.

Video supplements for Modern Robotics are linked below. They cover much of the material in the book. To fully understand the material, though, you will need to consult the book and work some exercises! A good strategy for self-study may be to watch the video first, to get a quick introduction to the material, then read the corresponding section in the book.

• Introduction to the Lightboard (1:33)

Chapter 2: Configuration Space

Total running time: 27:35

1. Chapters 2 and 3: Foundations of Robot Motion (2:12)
2. Chapter 2.1: Degrees of Freedom of a Rigid Body (5:15)
3. Chapter 2.2: Degrees of Freedom of a Robot (5:43)
4. Chapter 2.3.1: Configuration Space Topology (4:37)
5. Chapter 2.3.2: Configuration Space Representation (3:52)
6. Chapter 2.4: Configuration and Velocity Constraints (4:21)
7. Chapter 2.5: Task Space and Workspace (1:35)

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Chapter 3: Rigid-Body Motions

Total running time: 40:35

1. Chapter 3: Introduction to Rigid-Body Motions (2:10)
2. Chapter 3.2.1: Rotation Matrices (Part 1 of 2) (2:54)
3. Chapter 3.2.1: Rotation Matrices (Part 2 of 2) (4:14)
4. Chapter 3.2.2: Angular Velocities (3:28)
5. Chapter 3.2.3: Exponential Coordinates of Rotation (Part 1 of 2) (2:04)
6. Chapter 3.2.3: Exponential Coordinates of Rotation (Part 2 of 2) (3:43)
7. Chapter 3.3.1: Homogeneous Transformation Matrices (6:22)
8. Chapter 3.3.2: Twists (Part 1 of 2) (5:00)
9. Chapter 3.3.2: Twists (Part 2 of 2) (2:39)
10. Chapter 3.3.3: Exponential Coordinates of Rigid-Body Motion (5:00)
11. Chapter 3.4: Wrenches (3:01)

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Chapter 4: Forward Kinematics

Total running time: 13:40

1. Chapter 4.1.1: Product of Exponentials Formula in the Space Frame (6:31)
2. Chapter 4.1.2: Product of Exponentials Formula in the End-Effector Frame (4:41)
3. Chapter 4: Forward Kinematics Example (3:28)

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Chapter 5: Velocity Kinematics and Statics

Total running time: 34:33

1. Chapter 5: Velocity Kinematics and Statics (8:28)
2. Chapter 5.1.1: Space Jacobian (5:59)
3. Chapter 5.1.2: Body Jacobian (4:51)
4. Chapter 5.2: Statics of Open Chains (2:54)
5. Chapter 5.3: Singularities (6:37)
6. Chapter 5.4: Manipulability (5:44)

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Chapter 6: Inverse Kinematics

Total running time: 13:54

1. Chapter 6: Inverse Kinematics of Open Chains (4:03)
2. Chapter 6.2: Numerical Inverse Kinematics (Part 1 of 2) (5:04)
3. Chapter 6.2: Numerical Inverse Kinematics (Part 2 of 2) (4:47)

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Chapter 7: Kinematics of Closed Chains

Total running time: 8:34

1. Chapter 7: Kinematics of Closed Chains (8:34)

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