01
Configuration
A robot's configuration specifies the geometric state required to determine its position in the physical world. The set of all possible configurations forms its configuration space.
A rigid object moving freely in three-dimensional space has six degrees of freedom: three translational and three rotational. A robotic mechanism has a number of degrees of freedom determined by its joints and mechanical constraints.
02
Coordinate Frames
Robots operate using multiple coordinate frames: world, robot base, joint, sensor, end-effector, and object frames. Transformations between frames are fundamental to perception, kinematics, planning, and control.
T_AB ∈ SE(3)