We learn how to describe the position and orientation of objects on a 2-dimensional plane. We introduce the notion of reference frames as a basis for describing the position of objects in two dimensions.
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The human eye is quite amazing, let’s look at its various components including the light sensitive rod and cone cells.
The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.
This video summarises the important points from this masterclass.
We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.
We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.