Summary of Brady's "Basics of Robot Motion Planning and Control"

by Sunil Vemuri
February 14, 1996

These notes are available on-line at

1. Introduction

Desirable qualities
impose constraints on the velocity and acceleration. Some tasks require constant velocity (scribing, arc welding). Controlled acceleration permits smoother movements of arm and reduces wear and tear


2. Kinematics, Statics, Dynamics

3. Feedback

(somewhat unimportant)

4. Trajectory Planning


5. Compliant Motion

6. Task Planning


What is the problem of inverse kinematics?

What is the difference between manipulator-level programming and task-level programming?

What is guiding?