#### 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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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 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.

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We recap the important points from this lecture.

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Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.

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How is an image formed? The real world has three dimensions but an image has only two. We can use linear algebra and homogeneous coordinates to understand what’s going on. This more general approach allows us to model the positions of pixels in the sensor array and to derive relationships between points on the image […]

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