#### The geometry of image formation

masterclass

masterclass

lesson

We introduce the relationship between the velocity of the robot’s joints and the velocity of the end-effector in 3D space.

lesson

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

lesson

We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.

lesson

We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

lesson

We learn a method for succinctly describing the structure of a serial-link manipulator in terms of its Denavit-Hartenberg parameters, a widely used notation in robotics.