Rigid-body Pose Foundations
Table of contents
Rigid-body pose describes the position and orientation of a body in space, and is the foundation for forward and inverse kinematics.
Core ideas
- Pose combines translation and rotation
- Common orientation representations include rotation matrices, Euler angles, and quaternions
- Transformations map points and frames between coordinate systems
Why it matters in manipulation
- Defines end-effector targets for reaching and grasping
- Underpins forward kinematics, inverse kinematics, and Jacobians
- Clarifies how orientation choices affect singularities and control