Robot Dynamics

The book delves into the fundamental concepts of kinematics, covering essential topics such as nomenclature, various coordinate systems (Cartesian, cylindrical, and spherical), and the representation of positions and velocities. It explores linear velocity and the intricacies of rotation, including rotation matrices and the distinction between active and passive rotations. Additionally, the text discusses elementary rotations, composition of rotations, and the use of Euler angles for representing rotational motion, making it a comprehensive guide for understanding motion in three-dimensional space.