#### Second Order Dynamic Systems

lesson

If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

lesson

If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

lesson

A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.

lesson

We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.

lesson

All mechanical systems exhibit friction and we learn about two broad classes of friction: linear and non-linear.

lesson

Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

lesson

Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

lesson

The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.

lesson

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

lesson

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.

lesson

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.