We consider a robot with four joints that moves its end-effector in 3D space.
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We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.
Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.
We can describe the relationship between a 3D world point and a 2D image plane point, both expressed in homogeneous coordinates, using a linear transformation – a 3×4 matrix. Then we can extend this to account for an image plane which is a regular grid of discrete pixels.
Let’s recap the basics of homogeneous coordinates to represent points on a plane.
Our population is getting older. Let’s look at how this ageing varies across countries, the problems it will create and how robots might help.
The Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.
We revisit the important points from this masterclass.
We start by looking at a number of different types of robot arm with particular focus on serial-link robot manipulators.
Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.