#### Analyzing a 2-joint planar robot arm

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We consider a robot, which has two rotary joints and an arm.

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We consider a robot, which has two rotary joints and an arm.

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Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.

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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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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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A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]