#### Robot joint Control

masterclass

masterclass

lesson

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

lesson

Actuators have finite capability, that is they have a maximum torque, velocity and power rating.

lesson

The most common type of actuator is a rotary electric motor so let’s look at the basic principles.

lesson

Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.

lesson

A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]

lesson

Actuators are the components that actually move the robot’s joint. So let’s look at a few different actuation technologies that are used in robots.

lesson

Visual servoing is concerned with the motion of points in the world. How can we reliably detect such points using computer vision techniques.

lesson

There is a lot of information in an image which we need to summarize somehow. An intensity histogram is one form of summary that provides useful information about how well the exposure of our camera is adjusted.

lesson

It is common to think about an assembly task being specified in terms of coordinates in the 3D world. An alternative approach is to consider the task in terms of the relative position of objects in one or more views of the task — visual servoing.