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We learn how to describe the 3D pose of an object by a 4×4 homogeneous transformation matrix which has a special structure.

We learn how to describe the 2D pose of an object by a 3×3 homogeneous transformation matrix which has a special structure. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

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

Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

Image warping allows us to shrink (or expand) an image by any scale factor, as well as to translate and rotate it. Let’s look at how image warping works.

We consider a robot with four joints that moves its end-effector in 3D space.

We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

We recap the important points from this lecture.

We summarise the important points from this lecture.