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In this article, we plan to provide an introduction about some basics aboutrobots for readers. Several key topics of classic robotics will be introduced,including robot representation, robot rotational motion, coordinatestransformation and velocity transformation. By now, classic rigid-body robotanalysis is still the main-stream approach in robot controlling and motionplanning. In this article, no data-driven or machine learning based methodswill be introduced. Most of the materials covered in this article are based onthe rigid-body kinematics that the readers probably have learned from thephysics course at high-school or college. Meanwhile, these classic robotkinematics analyses will serve as the foundation for the latest intelligentrobot control algorithms in modern robotics studies.

Robot Basics: Representation, Rotation and Velocity