4 Robot Arm Kinematics

00:00:00 Introduction 00:04:52 Homogenous Transformation Matrices (revisit) 00:09:31 Homogenous Transformation Matrices Worked Example 00:15:46 Forward Kinematics 00:23:30 PUMA 560 Link Coordinate Frame Assignment 00:38:09 PUMA 560 D-H Parameters 00:58:23 PUMA 260 Link Coordinate Frame Assignment 01:05:38 PUMA 260 D-H Parameters 01:14:17 Forward Kinematics (continued) 01:19:34 Inverse Kinematics 01:30:17 Inverse Kinematics Worked Example