#### Base and tool transforms

lesson

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

lesson

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

lesson

We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.

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We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]

lesson

We will learn about the relationship, in 2D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions.

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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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.

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By inverting the Jacobian matrix we can find the joint velocities required to achieve a particular end-effector velocity, so long as the Jacobian is not singular.

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We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

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We consider a robot with four joints that moves its end-effector in 3D space.

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We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.