#### Limits of Electric Motor Performance

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Actuators have finite capability, that is they have a maximum torque, velocity and power rating.

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Actuators have finite capability, that is they have a maximum torque, velocity and power rating.

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So far we have taken a linear combination of pixels in the box around the input pixel, but non-linear operations like sorting and ranking the pixel values also prove to be very useful. We look at the median filter which is much better at removing salt and pepper noise from image than simple smoothing.

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A more efficient trajectory has a trapezoidal velocity profile.

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The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

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For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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We summarise the important points from this lecture.

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One very powerful trick used by humans is binocular vision. The images from each eye are quite similar, but there is a small horizontal shift, a disparity, between them and that shift is a function of the object distance.

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When matching points between scenes with large different viewpoints we need to account for varying image size and rotation. SIFT features are a powerful way to achieve this.

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In a binary image a white blob could contain one or more holes or black blobs. Those block blobs in turn could contain one or more white blobs and so on. Any blob that is surrounded by another blob, of the opposite color, is considered to be the child of the surrounding blob. This gives […]