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For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

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

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 […]

We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.

An important problem in robotic vision is moving a camera so that the view it sees matches the view we want it to have. To achieve this we exploit knowledge about how an image changes as a camera moves. Then we invert that and compute how the camera should move so the image changes in […]

Let’s recap the important points from the topics we have covered about human depth perception, display of 3D images and estimating 3D scene structure using stereo and other types of sensors.

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.

We summarise the important points from this lecture.

We store movies in files, typically in an MPEG format. Let’s look at what’s inside one of those movie files, and how we can grab a frame from a movie as an image and put it into the MATLAB workspace.