We consider a robot with three joints that moves its end-effector on a plane.
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We consider the simplest possible robot, which has one rotary joint and an arm.
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.
We previously learnt how to derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame. Now we extend that to the 3D case.
A characteristic of inverse kinematics is that there is often more than one solution, that is, more than one set of joint angles gives exactly the same end-effector pose.
We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.
We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.
Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.
Building a highly accurate robot is not trivial yet we can perform fine positioning tasks like threading a needle using hand-eye coordination. For a robot we call this visual servoing.
We revisit the important points from this masterclass.