lesson
We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
masterclass
lesson
A characteristic of inverse kinematics is that there is often more than one solution, that is, more than one set of joint angles gives exactly the same end-effector pose.
lesson
We will introduce resolved-rate motion control which is a classical Jacobian-based scheme for moving the end-effector at a specified velocity without having to compute inverse kinematics.