lesson
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.
lesson
The orientation of a body in 3D can be described by three angles, examples of which are Euler angles and roll-pitch-yaw angles. Note that in the MATLAB example at 8:24 note that recent versions of the Robotics Toolbox (9.11, 10.x) give a different result: >> rpy2r(0.1,0.2,0.3)ans = 0.9363 -0.2751 0.2184 0.2896 0.9564 -0.0370 -0.1987 0.0978 […]
lesson
We consider a robot with four joints that moves its end-effector in 3D space.
lesson
We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
lesson
Humans have long been fascinated by machines that mimic people and animals. These and several other technologies are the precursors of modern robots.
lesson
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.