#### Examining Pixel Values

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We can use MATLAB to display a profile of brightness along a line in the image.

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We can use MATLAB to display a profile of brightness along a line in the image.

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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.

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

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A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]