Computer Vision News 6 by Madi Babaiasl, Bryan MacGavin, Daniel Montes Tolon, Namrata Roy 1 Introduction In part 1 of this series of lessons, you learned how to set up your hardware and software to make everything ready to implement the vision-aided inverse kinematics control of the robot arm. In this lesson, you will learn about some theory behind screw theory-based numerical inverse kinematics using Newton-Raphson iterative method for robotic manipulators and thus you will be able to calculate the necessary parameters and equations to implement your robotic arm’s numerical inverse kinematics. The equations for the robotic arm used in these series of lessons are provided for your reference. Lessons in Robotics Do you remember awesome Madi Babaiasl, who two years ago promptly taught me about redundancy in Robotics? A really fascinating moment! We asked her to prepare a full lesson for our readers. What she did with three of her students (they are all PhD students and one of them is a soon-to-be professor) is a great "educational" lesson – so complete that we had to divide it in 3 parts. Part 1 was published in the March issue of Computer Vision News. Here is part 2. Part 3 will be published in our May issue. You will find it in our archives during and after May 2024 Vision-aided Screw Theory-based Inverse Kinematics Control of a Robot Arm Using Robot Operating System (ROS2) - Part 2
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