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Search Results for: reach

Reachability and Singularity

lesson

For real robots there are a few extra things to think about. Is a particular point actually reachable? Our old friend, singularity or gimbal lock reappears in the wrist.

Robot workspace

lesson

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.

Analyzing a 3-joint planar robot arm

lesson

We consider a robot with three joints that moves its end-effector on a plane.

1D polynomial trajectory

lesson

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

Summary of 2D geometry and pose

lesson

We summarise the important points from this lecture.

Cartesian Interpolated Motion

lesson

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

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  • Queensland University of Technology
  • Australian Centre for Robotic Vision
  • IEEE Robotics and Automation Society
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