"蘇黎世聯邦理工學院機器人技術講義：動力學控制與逆向運動解matlab程序碼"

The Robotics Technology Lecture Notes from the Swiss Federal Institute of Technology in Zurich cover topics such as kinematics, dynamics, inverse kinematics, and MATLAB code for motion analysis. These lecture notes are designed for engineers who are interested in robotics technology. The kinematics section covers the study of motion, including the position and orientation of robotic systems. It explains how to represent positions using Cartesian coordinates and Euler angles, and how to transform between Euler angles and rotation matrices. This section provides a foundation for understanding the movement of robots in various environments. The dynamics section delves into the forces and torques that govern the motion of robotic systems. It includes topics such as joint-space dynamic control, where the focus is on controlling the motion of individual joints, and task-space dynamic control, which looks at controlling the overall motion of the robot. The lecture notes also discuss inverse dynamics for floating-base systems, such as humanoid robots and legged robots, and quasi-static control for robots like robot dogs that require balance control. The MATLAB code provided in the lecture notes allows engineers to implement the concepts discussed in the lectures and analyze the motion of robotic systems. This hands-on approach helps reinforce the theoretical concepts and provides practical experience in robotics technology. Overall, the Robotics Technology Lecture Notes from the Swiss Federal Institute of Technology in Zurich offer a comprehensive overview of kinematics, dynamics, and control in robotics. Whether you are a beginner or an experienced engineer in the field, these lecture notes provide valuable insights into the world of robotics technology.