We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.
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We summarise the important points from this lecture.
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.
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 introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.
We consider a robot with three joints that moves its end-effector on a plane.
We consider a robot, which has two rotary joints and an arm.
We learn how to describe the position and orientation of objects in the 3-dimensional space that we live in. This builds on our understanding of describing position and orientation in two dimensions.