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Inverse Tanget Function

A really important function when performing inverse kinematics is the inverse tangent or arctan function. We revise how this function works for angles in all quadrants of the circle and introduce a useful variant known as atan2.  

Introduction to Inverse Kinematics

We will learn about inverse kinematics, that is, how to compute the robot’s joint angles given the desired pose of their end-effector and knowledge about the dimensions of its links. We will also learn about how to generate paths that lead to smooth coordinated motion of the end-effector.  

Robot Workspace

The workspace of a robot arm is the set of all positions that it can reach. This depends on a number of factors including the dimensions of the arm.  

Base and Tool transforms

The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?  

Introduction to Robot Manipulator Arms

We introduce serial-link robot manipulators, the sort of robot arms you might have seen working in factories doing tasks like welding, spray painting or material transfer. We will learn how we can compute the pose of the robot’s end-effector given knowledge of the robot’s joint angles and the dimensions of its links.  

Inertial Navigation

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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