#### Base and tool transforms

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The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

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The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?

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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.

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

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A more efficient trajectory has a trapezoidal velocity profile.

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The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.

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We recap the important points from this lecture.

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

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The orientation of a body in 3D can be described by three angles, examples of which are Euler angles and roll-pitch-yaw angles. Note that in the MATLAB example at 8:24 note that recent versions of the Robotics Toolbox (9.11, 10.x) give a different result: >> rpy2r(0.1,0.2,0.3)ans = 0.9363 -0.2751 0.2184 0.2896 0.9564 -0.0370 -0.1987 0.0978 […]