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We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.

We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.

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.

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 […]

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.

Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.

We summarise the important points from this lecture.