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Most computers today have a built-in camera. Let’s look at how we can grab images directly from such a camera and put them in the MATLAB workspace.

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 revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.

The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.