总结思考Robotics Research Preparation (RRP)，课程链接👉🏻:Link。对于读论文和写报告，我已经总结一番了。这里就只谈谈对课程的看法和值得改进的地方。

在完成robotics fundamental week3作业的时候，我发现要求求正向动力学矩阵，但是在绘制workspace的代码中并没有体现，而是使用了常规的没有难度的几何法，我想肯定是有联系的。

Abstract: This article mainly involves the difference between the D-H classical (or Distal) convention and D-H modified (or Proximal) convention for a kinematic chain. (a general abstract of the difference is to be finished...)

Keywords: D-H classical convention, D-H modified convention, forward kinematics

推导齐次变换矩阵，包含旋转矩阵和平移矩阵。

Before understanding the singularities in robotics, we shall review:

• What are rotation matrices?
• What are Euler angles?p

I think these two points are the bases of the comprehension of singularities.

This blog will only involve in the rules of writing emails in formal occasions. And I don't want to talk about what occasions are supposed to reach the standard. Here you go.