
Analyzing a 3-joint planar robot arm
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We consider a robot with three joints that moves its end-effector on a plane.
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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.
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We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
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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.
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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.
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Let’s recap the important points from the topics we have covered about image formation and perspective projection.
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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.
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We recap the important points from this masterclass.
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We consider a robot with four joints that moves its end-effector in 3D space.
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We recap the important points from this masterclass.