For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.
Search Results for: camera velocity
The Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.
The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.
The pinhole or lensed camera is very similar to our eye, but there are lots of other ways to build a camera.
A body moving in 3D space has a translational velocity and a rotational velocity. The combination is called spatial velocity and is described by a 6-element vector.
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 […]
One very powerful trick used by humans is binocular vision. The images from each eye are quite similar, but there is a small horizontal shift, a disparity, between them and that shift is a function of the object distance.
The pinhole camera simplifies the geometry but in practice it results in very dark images. Cameras, as well as our eyes, use a lens to form a brighter image but there are consequences.