Actin Concepts

In this section, we introduce basic robotics and coordinate system concepts of Actin. You should view this video before watching the Actin Modeling section.

  • Introduction
  • Manipulators and Links
  • Joints
  • Coordinate Frame
  • End Effector
  • Kinematics and Dynamics
  • Motion Problem
  • Kinematic Redundancy
  • Kinematic Redundancy Examples
  • Kinematic Redundancy 7DOF Example
  • End Effector Constraints
  • Optimizations
  • Joint Limits and Singularities
  • Collisions and Bounding Volumes
  • Motion Planning
  • Path Planning
  • Local Path Planning Example
  • Global Path Planning Example