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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.

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

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

We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.

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

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 […]

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.

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

For a camera moving through the environment we frequently wish to track particular world points from one frame to the next. We’ll do a quick introduction to the very large field of feature detection and matching using Harris corner features.