yantramanavvishayak parampara

robotics sanshodhan kshetrat anek parampara vaparlya jaatat. yaa lekhat yaa adhiveshanancha saransh deela aahe.
reshanche pratinidhitva.
yantramanavshastrat resha khoop mahattvachya aahet karanah
kiman nasalele vector nirdeshank.
resheche sootra _ 1 heey done vectorchya krambaddha sanchadvare purnapane paribhashit kele jaateh
reshevaril pratyek bindu sootra _ 5 laa eka mapdand moolya sootra _ 6 dile jaate jeey samadhankarak aaheh
sootra _ 7. sootra _ 2 aanee sootra _ 4 nivadalyanantar tii haah mapdand adviteey aahe. pratinidhitva sootra _ 1 kiman nahee, kaaran teey keval chaar degree auph friedamsathi sahaa mapdand vaparte. khaleel done maryada lagoo hotatah
plucker nirdeshank.
arther kelee aanee julius plucker yanni done mukt vahak vaparoon paryayi pratinidhitva sadar kele. yaa pratinidhitvala shevati pluckerche naav denyat aale.
 pluckerche pratinidhitva sootra 15 dware darshavile jaate. sootra 4 aanee sootra 17 heey donhi mukt vahak aaheth sootra 4 reshechi disha darshavate aanee sootra 17 heey nivadalelya sandarbh moodabaddal sootra 4 chaa kshan aahe. sootra _ 21 (sootra _ 17 heey reshevaril konatya bindu sootra _ 2 pasoon swatantra aahe!)
 plucker nirdeshankancha fayda assa aahe qee teey eksandh aahet.
 plucker nirdeshankatil reshet ajunahi sahaa swatantra mapdandanpaiki chaar asatat, mhanoon teey kiman pratinidhitva nahee. sahaa plucker nirdeshankanvaril done maryada aahet
kiman resheche pratinidhitva.
jarr resheche pratinidhitva chaar mapdand vaparat asel tarr teey kiman asate, jeey euclidean jaaget (eae3) serve sambhavya reshanche pratinidhitva karnyasathi aavashyak asalele kiman asate.
denavit-hartenberg resha nirdeshank.
jacq denavit aanee richard ess. hartenbergney eka reshesathi pahile kiman pratinidhitva sadar kele jeey aata mothya pramanat vaparale jaate. done reshanmadhil samanya samanya hii mukhya bhaumitik sankalpana hotee jyamule denavit aanee hartenberg yanna kiman pratinidhitva shodhata aale. duve aanee sandhe yanchya sthitiche spashtapane varnan karnyat madat karnyasathi abhiyante denavit-hartenberg convention (dii-etch) vapartat. pratyek duvyala swatachi samanvay pranali milate. samanvay pranali nivadatana vichar karnyasathi kahee niyam aaheth
ekada samanvay chaukati nishchit jhalya qee, aantar-duva parivartane khaleel chaar mapdandandware advitiyapane varnan kelee jaatatah
hayati-roberts resha nirdeshank.
hayati-roberts resheche pratinidhitva, sootra _ 45 darshavile jaate, heey aanakhi eka kiman resheche pratinidhitva aahe, jyat mapdand aaheth
heey pratinidhitva nirdeshit reshesathi adviteey aahe. nirdeshank ekatmata hii dii. etch. ekatmatepeksha vegali aaheh jarr resha jaagtik chaukatichya sootra _ 48 kinwa sootra _ 49 akshala samantar jhaali tarr tyat ekatmata asate.
ghatankiy sutrache utpadan.
ghatankiy sutrache utpadan heey valananche ghatankanche utpadan mhanoon khulya sakhali yantranechya gatishastrache pratinidhitva karate aanee firatya, presmatic aanee helical sandhyanchya malikeche varnan karnyasathi vaparale jaau shakate. 

