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Last Updated: September 21, 2026
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Content: Using matplotlib and numpy to make plots in I give intuition on how to simulate the system and create a guess for root finding to compute periodic solutions. I also discuss ... First, I review root finding. Then I demonstrate the inverse kinematics is a root finding problem. I present code to do inverse ... The video shows the theory and numerical implementation to compute the inverse kinematic solution of a 3D manipulator. This video introduces the idea of Jacobian and shows a simple example. Then I show This video explains state space, controllability, pole placement, and linear quadratic regulator using a spring-mass system There ... I derive the equations to compute the position of the end-effector (P) and then use feedback linearization to do inverse kinematics. Slides available at: slides.com/russtedrake/fall21-lec02.
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