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We consider a robot with three joints that moves its end-effector on a plane.

We consider the simplest possible robot, which has one rotary joint and an arm.

We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

When a camera moves in the world, points in the image move in a very specific way. The image plane or pixel velocity is a function of the camera’s motion and the position of the points in the world. This is known as optical flow. Let’s explore the link between camera and image motion.

We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

Let’s recap the important points from the topics we have covered about image formation and perspective projection.

A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.

We recap the important points from this masterclass.

We consider a robot with four joints that moves its end-effector in 3D space.

We recap the important points from this masterclass.