Lecture 18
16-311 Introduction to Robotics
Prof. Howie Choset

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Non-Holonomic Constraints (ppt presentation)

• Having a 6 DOF mechanism does not imply that you can arbitrarily orient in a 3 dimensional Euclidean space (X,Y,Z,Theta1,Theta2,Theta3.
• However, arbitrary orientation in 3-D does require at least 6 DOF
• Classifications:
  • n > 6: Redundant 3-D space
  • n > 3: Redundant in a planar workspace
  • n >> dim: Hyper-redundant
  • n < dim: Underactuated
• Some hardwritten notes are here