Actuators have finite capability, that is they have a maximum torque, velocity and power rating.
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We can model a DC motor as a resistor and a voltage source, and then understand the implications of controlling either the voltage or current supplied to the motor. We also learn about common methods for motor control such as the H-bridge driver and pulse width modulation.
Now we introduce a variant of the Jacobian matrix that can relate our angular velocity vector back to our rates of change of the roll, pitch and yaw angles.
The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.
The orientation of a body in 3D can be described by three angles, examples of which are Euler angles and roll-pitch-yaw angles. Note that in the MATLAB example at 8:24 note that recent versions of the Robotics Toolbox (9.11, 10.x) give a different result: >> rpy2r(0.1,0.2,0.3)ans = 0.9363 -0.2751 0.2184 0.2896 0.9564 -0.0370 -0.1987 0.0978 […]
A robot joint controller is a type of feedback control system which is an old and well understood technique. We will learn how to assemble the various mechatronic components such as motors, gearboxes, sensors, electronics and embedded computing in a feedback configuration to implement a robot joint controller.
A robot joint is a mechatronic system comprising motors, sensors, electronics and embedded computing that implements a feedback control system.
For a binary image that contains multiple blobs we must first transform it using connectivity analysis or region labeling. Then we can describe each of the blobs in the scene we first need to transform the image using connectivity analysis. Each of the blobs can then be described in terms of its area, centroid position, […]
We recap the important points from this masterclass.