Reading an Image From a Local Camera
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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.
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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.
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We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.
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We learn how to describe the 3D pose of an object by a 4×4 homogeneous transformation matrix which has a special structure.
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The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.
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A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]
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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.
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We will learn how to create coordinate frames that have smoothly changing position and orientation over time.
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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.
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We revisit the fundamentals of 3D geometry that you would have learned at school: coordinate frames, points and vectors.
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We revisit the fundamentals of geometry that you would have learned at school: Euclidean geometry, Cartesian or analytic geometry, coordinate frames, points and vectors.