We learn the concepts of a robot’s task space and its configuration space, and the relationship between the dimensions of these two spaces.
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For a redundant robot the inverse kinematics can be easily solved using a numerical approach.
An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.
We consider a robot with three joints that moves its end-effector on a plane.
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.
It is common to think about an assembly task being specified in terms of coordinates in the 3D world. An alternative approach is to consider the task in terms of the relative position of objects in one or more views of the task — visual servoing.
Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.
As the illumination level changes so do the red, green and blue tristimulus values, but they are linearly related. We can separate brightness from chromaticity which is a two dimensional representation of color. We discuss briefly the effect of gamma encoding on the color reproduction process.
A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.
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.