Autoplay of the YouTube playlist for all videos in this chapter.  This description box will not be updated with information about each video as the videos advance.

This video introduces chapters 2 and 3 on configuration space, degrees of freedom, and rigid-body motions.

This video introduces the concepts of configuration, configuration space (C-space), and degrees of freedom, and describes a method for counting the degrees of freedom of a rigid-body in n dimensions.

This video describes common robot joints and derives Grubler’s formula for calculating the degrees of freedom of a mechanism.

This video introduces basic concepts in topology as applied to configuration spaces.

This video introduces representations of manifolds using minimum-coordinate explicit parametrizations and implicit representations, where the manifold is viewed as a surface embedded in a higher-dimensional space.

This video introduces holonomic configuration constraints, nonholonomic velocity constraints, and Pfaffian constraints.

This video introduces the task space, the space in which the robot’s task can most naturally be expressed, and the workspace, a characterization of the reachable configurations of the end-effector.