An image is a two dimensional projection of a three dimensional world. The big problem with this projection is that big distant objects appear the same size as small close objects. For people, and robots, it’s important to distinguish these different situations. Let’s look at how humans and robots can determine the scale of objects […]
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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.
Once a digital image exists as a matrix in the MATLAB workspace we can manipulate it to extract information that a robot could use. We will discuss some fundamental algorithms that operate on single images.
We will learn about the forces that are exerted on a robot‘s joint by gravity acting on links, friction, and the coupling forces where the motion of one joint imparts a force on other joints.
We will learn about inverse kinematics, that is, how to compute the robot‘s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.
We summarise the important points from this lecture.