#### Introduction to 2D geometry

lesson

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.

lesson

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.

lesson

We summarise the important points from this lecture.

lesson

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.

lesson

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.

lesson

We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

masterclass

masterclass

lesson

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

lesson

We consider a robot with three joints that moves its end-effector on a plane.

lesson

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.