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Let’s recap the important points from the topics we have covered about light, wavelength, spectrums, light sources, reflection, reflectance functions, cone cells, tristimulus and chromaticity space.

Humans are trichromats which means that our eyes have three types of cone cells which are sensitive to different parts of the spectrum: red, green and blue light. They perform a non-unique mapping from an arbitrary spectrum of light into three signals which are known as a tristimulus which we perceive as a particular color. […]

Where does color come from? It’s a combination of effects: the light shining on the object, how the object reflects light and the eye that observes it.

We use MATLAB and some Toolbox functions to model the spectrum of a realistic light source, its modification after reflection from a colored object and the response of the cone cells to form a tristimulus response.

We can create most colors by a suitable mixture of three primary colored light sources, typically red, green and blue. Let’s look at how color mixing works.

The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.

Humans have been fascinated by the sense of vision for a long time, but it took a while to figure out how it worked. We now understand that illumination falls on an object and some light is reflected into our eye where it is sensed and interpreted by our brain.

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.

For real robots such as those with 6 joints that move in 3D space the inverse kinematics is quite complex, but for many of these robots the solutions have been helpfully derived by others and published. Let’s explore the inverse kinematics of the classical Puma 560 robot.

We summarise the important points from this lecture.