In the autumn semester of 2018 I took the course Robot Dynamics. The summary I took with me to the exam is available here in PDF format as well as in LaTeX format. Here’s an overview of the topics the course covered: Kinematics Rotation and angular velocity Rigid Body Formulation Homogeneous transformations Kinematics of systems
When learning about robotics, and specifically kinematics or dynamics of robots, Jacobians are a very common concept. However, I was always confused as to the difference between analytical and geometric Jacobian. When I finally figured it out, it helped to put it in words.