#### Summary of Robot Actuators and Control

lesson

We recap the important points from this masterclass.

lesson

We recap the important points from this masterclass.

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We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.

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Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.

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The sense of vision evolved over 540 million years ago and ushered in the Cambrian explosion and complex life forms, such as trilobites, with eyes. How did such an amazing sense come to exist?

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If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

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We repeat the process of the last section but this time consider it as an algebraic problem.

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The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

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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.

lesson

Is it acceptable that self-driving cars will cause accidents if they kill fewer people than human drivers? When an accident occurs is it a moral or a legal issue?

lesson

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