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.
Time varying coordinate frames are required to describe how the end-effector of a robot should move to grab an object, or to describe objects that are moving in the world. We make an important distinction between a path and a trajectory.
A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems.