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.
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We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.
We recap the important points from this masterclass.
In a serial-link manipulator arm each joint has to support all the links between itself and the end of the robot. We introduce the recursive Newton-Euler algorithm which allows us to compute the joint torques given the robot joint positions, velocities and accelerations and the link inertial parameters.