#### Base and tool transforms

lesson

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

lesson

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

lesson

We consider the simplest possible robot, which has one rotary joint and an arm.

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We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.

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Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.

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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.

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We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions. In the MATLAB example starting at 5:44 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

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We summarise the important points from this lecture.