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The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object.   In the MATLAB example starting at 3:48 I use the Quaternion class.  For Toolbox version 10 (2017) please use UnitQuaternion instead.

We revisit the important points from this masterclass.

For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

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

The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.