When it comes to describing a blob we can do more than just area, centroid position and bounding box. By looking at second order moments we can compute an ellipse that has the same moments of inertia as the blob, and we can use its aspect ratio and orientation to describe the shape and orientation […]
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We learn how to use information from three accelerometers to determine orientation.
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.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]
We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.
We learn the mathematical relationship between angular velocity of a body and the time derivative of the rotation matrix describing the orientation of that body.
We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.
We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.
We summarise the important points from this lecture.