Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.
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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.
We introduce the topic of robotics, the recent history, why we need robots and the future of robots.
We like robots but there’s also an element of fear, perhaps stoked by all those books and movies about our new robot overlords. I’m going to speculate a little about where the fear comes from.
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.
If we want to process images the first thing we need to do is to read an image into MATLAB as a variable in the workspace. What kind of variable is an image? How can we see the image inside a variable? How do we refer to to individual pixels within an image.
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.
For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.
The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.
Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.