Lecture 2 Jargon Flashcards
1
Q
Frame
A
A coordinate system, either attached to an object or fixed
2
Q
Task space
A
The Cartesian space (2D or 3D) in which the robot moves
3
Q
Pose
A
A combination of position and orientation
4
Q
Jacobian (matrix)
A
A matrix of all first-order partial derivatives of a vectorvalued function
5
Q
Redundancy
A
When there is more than one configuration that satisfies
the posed problem
6
Q
Singularity
A
A configuration with reduced movement ability
7
Q
Holonomic
A
Able to move in any possible direction (e.g. a ball)
8
Q
Non-holonomic
A
Constrained to move only in certain directions (e.g. a car)
