In Chapters 2 and 3, on configuration space
and rigid-body motions, we'll study the representation
of positions, velocities, and forces in three-dimensional
space.
A firm understanding of this material is arguably
the most important foundation for the further
study of robotics, since all robots move in
the physical world.
This material is also typically new to the
beginning robotics engineer.
But, in case you were hoping to start programming
robots right away, I should warn you, you
don't see a lot of robots in Chapters 2 and
3.
Instead, we focus on building a strong foundation
in spatial motion as quickly as possible,
so we can then move on to the material focused
more on robots, beginning in chapter 4.
In particular, the material in chapters 2
and 3 will be the basis for understanding
how to represent the motion of a quadrotor
through space;
how some robots use links and joints to form
closed loops;
how to control a robot's joints to allow it
to interact with objects in its environment;
how to control robots to simultaneously move
and apply forces;
how a robot hand can manipulate an object;
how to navigate through cluttered environments;
how to perform coordinated control of a robot
arm mounted on a mobile robot;
and how the dynamic equations of motion are
used in high-performance motion control.
So, even though you won't see a lot of robots
in Chapters 2 and 3, consider it an investment
in all the cool things that come next.
Also, I think you'll find the concepts interesting
in their own right, as they broaden your understanding
of spatial motion.
Let's get started with Chapter 2.
