We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
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To simplify the inverse kinematics most robots have a spherical wrist, a particular mechanical wrist design. For robots where the inverse kinematics is too hard to figure out we can solve the problem numerically, treating it as an optimisation problem.
We revisit the important points from this masterclass.
Most objects reflect the light that falls on them and there are two aspects to this reflection. The first is geometric and concerned with the directions of the light rays: it can be specular reflection from a mirror like surface, or scattered Lambertian reflection from a matte surface. The second is the reflectance function which […]
We revisit the fundamentals of geometry that you would have learned at school: Euclidean geometry, Cartesian or analytic geometry, coordinate frames, points and vectors.
We learn how to describe the position and orientation of objects in the 3-dimensional space that we live in. This builds on our understanding of describing position and orientation in two dimensions.
We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.
We recap the important points from this lecture.
We summarise the important points from this lecture.
Let’s look at how light rays reflected from an object can form an image. We use the simple geometry of a pinhole camera to describe how points in a three-dimensional scene are projected on to a two-dimensional image plane.