#### Inverse Kinematics for a 2-Joint Robot Arm Using Geometry

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We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

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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.

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We revisit the important points from this masterclass.

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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 […]

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We revisit the fundamentals of geometry that you would have learned at school: Euclidean geometry, Cartesian or analytic geometry, coordinate frames, points and vectors.

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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.

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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.

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We recap the important points from this lecture.

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We summarise the important points from this lecture.

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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.