[AMR] updated first 4.5 sections

electives/amr/parts/01_kinematics/02_inverse.tex

@@ -13,3 +13,13 @@ $\theta_1 = \varphi \pm \alpha$, $\theta_2 = \pm(\pi - \beta)$
 3. Solve for wrist joints (no infl. on pos)
 
 \bi{For Inv. velocity}: $\vec{\dot{\theta}} = J_S^{-1}(\vec{\theta}) {_W} \vec{t}_{WE}$
+
+% \shortdefinition[Denavit-Hartengerb (DH)] Serial chains
+% \[
+%     \mat{T}_{L_j L_{j + 1}} = \mat{T}^{R_z}(\theta_j) \mat{T}^{t_z}(d_j) \mat{T}^{t_x}(a_j) \mat{T}^{R_x}(\alpha_j)
+% \]
+% with $
+
+\shortdefinition[Underactuated] workspace $<6$D; IK solvable
+
+\shortdefinition[Overactuated] $\8$ IK sol; Reduced singularities; Num. sol.