#### 3D Geometry

masterclass

masterclass

masterclass

lesson

To simplify the inverse kinematics most robots have a spherical wrist, a particular mechanical wrist design. For robots where the inverse kinematics is too hard to figure out we can solve the problem numerically, treating it as an optimisation problem.

lesson

We live in a three-dimensional world but it’s taken humans a long time to learn how to realistically depict the illusion of depth on a flat surface.

lesson

The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.

lesson

We consider a robot, which has two rotary joints and an arm.

lesson

We introduce the topic of robotics, the recent history, why we need robots and the future of robots.

lesson

The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.

lesson

How is an image formed? The real world has three dimensions but an image has only two: how does this happen and what are the consequences? We can use simple geometry to understand what’s going on.

lesson

We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.