Modern Robotics, All Videos - Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials. This video interprets the mass matrix of a robot in terms of how a sphere of joint torques maps to an ellipsoid of joint accelerations and vice-versa, and how a sphere of end-effector wrenches maps to an ellipsoid of end-effector accelerations and vice-versa. This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos. Playlist for Chapter 8: https://www.youtube.com/playlist?list=PLggLP4f-rq00TQamz2pXjzPWpuxhVN_Vy Playlist for all book videos: https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx YouTube channel with all playlists: https://www.youtube.com/user/kevinl2145 Wiki for the book, including software and other supplements: http://modernrobotics.org Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializations/modernrobotics