Once a digital image exists as a matrix in the MATLAB workspace we can manipulate it to extract information that a robot could use. We will discuss some fundamental algorithms that operate on single images.
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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.
We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.