Matrix inversion
After describing the preconditions for the existence of an inverse and its definition, two procedures to determine the inverse of a matrix, the Gauß-Jordan-Algorithm and the Adjugate Formula, are introduced and clarified by examples.
Transformations
In this article general transformations used in the context of robotics and the underlying mathematics are described. The two basic types of transformation are translation and rotation. To be able to apply all types of transformations by matrix multiplication, homogeneous coordinates are introduced. Based on the two basic transformations, combinations of transformations are possible. Additionaly a special matrix inversion method is presented for inverse transformation.
Three-Angle Representations
Three angles are enough to describe the orientation of an object in three-dimensional space. But there are two different ways to define these angles, the notation of Roll-Pitch-Yaw and of Euler angles.
Denavit-Hartenberg Convention
The Denavit-Hartenberg convention covers methods to assign coordinate frames to the links of serial link manipulators and to describe the spatial relationship between them by the four Denavit-Hartenberg parameters. Based on the A-matrices, the transformation of the end-effector with respect to the manipulators base frame can easily be determined and used for further computations. Typical examples for links are presented to illustrate the usage of the convention.