Search Results for: 1 joint

Actuators are the components that actually move the robot’s joint. So let’s look at a few different actuation technologies that are used in robots.

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.

We will learn how to create coordinate frames that have smoothly changing position and orientation over time.

We recap the important points from this lecture.

We learn how to describe the 3D pose of an object by a 4×4 homogeneous transformation matrix which has a special structure.

The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object.   In the MATLAB example starting at 3:48 I use the Quaternion class.  For Toolbox version 10 (2017) please use UnitQuaternion instead.

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 learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.