#### Introduction to robotics

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We introduce the topic of robotics, the recent history, why we need robots and the future of robots.

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We introduce the topic of robotics, the recent history, why we need robots and the future of robots.

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The relationship between world coordinates, image coordinates and camera spatial velocity is elegantly summed up by a single matrix equation that involves what we call the image Jacobian.

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We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

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We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.

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We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

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We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

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The pose of an object can be considered in two parts, the position of the object and the orientation of the object. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

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We consider multiple objects each with its own coordinate frame. Now we can describe the relationships between the frames and find a vector describing a point with respect to any of these frames. We extend our algebraic notation to ease the manipulation of relative poses. Try your hand at some online MATLAB problems. You’ll need […]

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We introduce the idea of attaching a coordinate frame to an object. We can describe points on the object by constant vectors with respect to the object’s coordinate frame, and then relate those to the points described with respect to a world coordinate frame. We introduce a simple algebraic notation to describe this. Try your […]

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To fully describe an object on the plane we need to not only describe its position, but also which direction it is pointing. This combination is referred to as pose. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.