#### Interpolating pose in 3D

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We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.

lesson

We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.

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We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions. In the MATLAB example starting at 5:44 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.

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To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.

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We will learn how to create coordinate frames that have smoothly changing position and orientation over time.

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Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

lesson

Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

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We summarise the important points from this lecture.

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A more efficient trajectory has a trapezoidal velocity profile.

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The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.