Many technologies have been developed to determine the 3D-structure of the world. RGBD sensors such as the Kinect use structured light, projecting a pattern of light onto the scene and observing how it is distorted. Time of flight sensors measure the time it takes for a pulse of light to travel from the camera to […]
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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.
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
We summarise the important points from this lecture.
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])
We will learn how to create coordinate frames that have smoothly changing position and orientation over time.
We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.
We recap the important points from this lecture.
The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.