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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.

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

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

We introduce the idea of attaching a coordinate frame to an object. We can describe points on the object by constant vectors with respect to the object’s coordinate frame, and then relate those to the points described with respect to a world coordinate frame. We introduce a simple algebraic notation to describe this. Try your […]