Homogeneous Transformation Matrices in Robotics | Fundamentals of Robotics | Lesson 14

🌟 Contents 🌟 💎 (00:00​​) Introduction 💎 (01:27​​) Homogeneous Transformation Matrices to Express Configurations in Robotics 💎 (03:15​) Special Euclidean Group SE(3) 💎 (04:19​​) Special Euclidean Group SE(2) 💎 (06:25​​) Properties of Homogeneous Transformation Matrices to Express Configurations in Robotics 💎 (09:34​​) Uses of Homogeneous Transformation Matrices 💎 (18:46​​) Fixed-frame Transformation 💎 (19:22​​) Body-frame Transformation 💎 (20:00​​) Examples for fixed-frame and body-frame transformations 💎 (24:09​​) Concluding Remarks In this lesson, we will start with configurations, and we will learn about homogeneous transformation matrices that are great tools to express configurations (both positions and orientations) in a compact matrix form. Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson. References: 📘 Textbooks: Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry 📃 Articles: Cao, C.T., Do, V.P. and Lee, B.R., 2019. A novel indirect calibration approach for robot positioning error compensation based on neural network and hand-eye vision. Applied Sciences, 9(9), p.1940. 💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video). ©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source. #homogenoustransformationmatrices #configuration #rotationmatrix #rotationmatrices #mechatronics #orientation #orientationinrobotics #roboticslearning #roboticsteaching #robotics #transformationmatrices #displacementinrobotics #poseinrobotics #educationalrobotics #pose #translationandrotation