#### Resolved Rate Motion Control in 2D

lesson

We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.

lesson

We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.

lesson

As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

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We summarise the important points from this masterclass.

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We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

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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 […]

lesson

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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Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.

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We will consider a very powerful group of functions, spatial operators, where each output pixel is a function of the corresponding input pixel and its neighbours.

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A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.

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We describe inertia of the robot as a matrix which represents how inertia of a joint depends on the position of all the joints, and how the torque on one joint depends on the acceleration of other joints.