A really important function when performing inverse kinematics is the inverse tangent or arctan function. We revise how this function works for angles in all quadrants of the circle and introduce a useful variant known as atan2.
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We revisit the important points from this masterclass.
We summarise the important points from this masterclass.
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.
An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.
To move a robot smoothly from one pose to another we need smooth and coordinated motion of all the joints. The simplest approach is called joint interpolated motion but it has some limitations.
For a redundant robot the inverse kinematics can be easily solved using a numerical approach.
A robot manipulator may have any number of joints. We look at how the shape of the Jacobian matrix changes depending on the number of joints of the robot.
As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.
By inverting the Jacobian matrix we can find the joint velocities required to achieve a particular end-effector velocity, so long as the Jacobian is not singular.