Search Results for: pixel velocity

We describe the velocity coupling terms of the robot as a matrix which represents how the torque on one joint depends on the velocity of other joints.

We previously learnt how to derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame. Now we extend that to the 3D case.

We can also derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame.

We run into problems when we take all of the pixels in a box around an input pixel and that pixel is close to one of the edges of the image. Let’s look at some strategies to deal with edge pixels.

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

We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]

We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

We will learn about the relationship, in 2D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions.

For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

The Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.