Search Results for: robot

We learn how to describe the 3D pose of an object by a 4×4 homogeneous transformation matrix which has a special structure.

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.

The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.

If we apply a sequence of 3D rotations to an objects we see that the order in which they are applied affects the final result.

We consider multiple objects each with their own 3D coordinate frame. Now we can describe the relationships between the frames and find a vector describing a point with respect to any of these frames. We extend our previous 2D algebraic notation to 3D and look again at pose graphs.

We extend the idea of relative pose, introduced in the last lecture, to 3D. We learn another right-hand rule that indicates the direction of rotation about an axis, and we see how we can attach 3D coordinate frames to objects to determine their pose in 3D space.

This is an exercise in which you can build a 3D coordinate frame by printing, cutting, folding and stapling.

We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.

The pose of an object can be considered in two parts, the position of the object and the orientation of the object. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.

We consider multiple objects each with its own coordinate frame. Now we can describe the relationships between the frames and find a vector describing a point with respect to any of these frames. We extend our algebraic notation to ease the manipulation of relative poses. Try your hand at some online MATLAB problems. You’ll need […]