A robot joint controller is a type of feedback control system which is an old and well understood technique. We will learn how to assemble the various mechatronic components such as motors, gearboxes, sensors, electronics and embedded computing in a feedback configuration to implement a robot joint controller.
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We will use Simulink to create a dynamic model of a single robot joint and simulate its operation.
Almost all cameras apply gamma encoding to the images they output. Let’s talk about what gamma encoding is, why it happens and how it is decoded.
As the illumination level changes so do the red, green and blue tristimulus values, but they are linearly related. We can separate brightness from chromaticity which is a two dimensional representation of color. We discuss briefly the effect of gamma encoding on the color reproduction process.
We use MATLAB and some Toolbox functions to find tomatoes on a bush. We convert the color image to chromaticity coordinates, select the pixels that belong to the tomatoes and the perform blob analysis to find the location of the tomatoes.
We discuss the structure of a right-handed 3D coordinate frame and the spatial relationship between its axes which is encoded in the right-hand rule.