This repository contains personal code and notes focusing on robotics fundamental using various resources. I don't own any of the material, I just want to share my personal notes and code while I learn about robotics fundamentals.
- Degrees of freedom of a rigid body
- Degrees of freedom of a robot
- Configuration space Topology
- Configuration and Velocity Constraints
- Taskspace and Workspace
- Rotation matrices
- Angular velocity
- Exponential coordinates
- Homogeneous transformations
- Twists
- Wrenches
- Zero configuration
- Configuration of end-effectors
- Product of exponentials formula
- Jacobian matrix
- Manipulability ellipsoid
- Body and space jacobians
- Statics of open chains
- Singularity
- Manipularity
- Numerical solutions
- Newton-Raphson Method
- Minimal coordinates and matrices
- Forward kinematics
- Velocity kinematics
- Inverse kinematics
- Singularity
- Lagrangian dynamics
- Newton-Euler equation
- Motion equations
- Inertia matrix
- Constrains
- Actuation and Gearing
- Probability
- Gaussian distribution
- Bayesian inference
- Bayes' rule
- MAP, MMSE, and MLE
- Pinhole camera model
- Camera and lenses
- Camera matrix
- Camera projection
- Camera calibration
- Camera distortion
- Rigid transformations
- Transformation in 2D
- Points and lines infinity
- Vanishing points and lines
- Epipolar geometry
- Fundamental matrix
- Essential matrix
- Image rectification
- Stereo vision
- Triangulation
- Structure from motion
- Active stereo
- Volumetric stereo
- Least squares
- RANSAC
- Hough transform
- States and representations
- Generative and discriminative
- Depth estimation
- Feature tracking
- Motion field
- Optical flow
- State estimation
- Bayes filter
- Kalman filter
- Extended Kalman filter
- Image representation
- Image transformation
- Image processing
- Image filtering
- Image segmentation
- Image feature detection
- Image feature description
- Image feature matching
- Image feature tracking
- Camera calibration
- Camera pose estimation
- 3D reconstruction
- K-Nearest Neighbors
- Support Vector Machines
- K-Means Clustering