Learning Robotics using Python - Second Edition

Chapter 2, Understanding the Basics of Differential Robots

1. Holonomic robots can freely move in any direction and the controllable degrees of freedom is equal to the total degrees of freedom. Omni wheel-based robots are an example of holonomic robots. Nonholonomic robots have constraints on its motion, so controllable degrees of freedom will not be equal to the total degrees of freedom. Differential driver configuration is an example of nonholonomic configuration.
2. Robot kinematics deals with the motion of the robot without considering the mass and inertia, whereas robot dynamics is the relationship between mass and inertia properties, motion, and associated torques.
3. ICC stands for Instantaneous Center of Curvature, which is an imaginary point ...