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Summary of Rigid-Body Dynamics

lesson

We recap the important points from this masterclass.

Summary of Robot Actuators and Control

lesson

We recap the important points from this masterclass.

Summary of Inverse Kinematics

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We revisit the important points from this masterclass.

Using magnetometers

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

Summary of robots and why we need them

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This video summarises the important points from this masterclass.

Interpolating rotation in 3D

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We learn how to create smoothly varying orientation in 3D by interpolating Euler angles and Quaternions. In the MATLAB example starting at 5:44 I use the Quaternion class.  For Toolbox version 10 (2017) please use UnitQuaternion instead.

Multi-dimensional trajectory

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We learn to compute a trajectory that involves simultaneous smooth motion of many robot joints.

Summary of 3D geometry and pose

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We recap the important points from this lecture.

Rotation angle sequences in 3D

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The orientation of a body in 3D can be described by three angles, examples of which are Euler angles and roll-pitch-yaw angles. Note that in the MATLAB example at 8:24 note that recent versions of the Robotics Toolbox (9.11, 10.x) give a different result: >> rpy2r(0.1,0.2,0.3)ans = 0.9363 -0.2751 0.2184 0.2896 0.9564 -0.0370 -0.1987 0.0978 […]

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  • IEEE Robotics and Automation Society
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