Robotics, Vision and Control

Fundamental algorithms in MATLAB: Second Edition


I. Fundamentals

This part discusses what the word robot means to roboticists and the wider public, the history of the field, and the different forms that robots take today. A definition that will serve us well is:

a goal oriented machine that can senseplan and act

We then move on to cover how we can represent the position and orientation of objects in 2- or 3-dimensional environments in terms of graphical coordinate frames. The objects might be robots, cameras, objects or obstacles. In order to use these frames in a computer program we need an appropriate representation and we discuss vectors, orthonormal rotation matrices, triple angles, homogeneous transformation matrices and quaterions.

Finally we discuss motion, how to generate a sequence of coordinate frames that represent smooth motion from one pose to another. We also consider how to process information from sensors on a moving frame to determine the pose of that frame.

  1. Representing position & orientation
    • Pose in 2-dimensions
    • Pose in 3-dimensions
    • Orthonormal rotation matrices, homogeneous transformation matrices
    • Euler angles, roll-pitch-yaw angles, gimbal lock, quaternions
  2. Time & motion
    • Trajectories: 1-dimensional, multi-dimensional, multi-segment
    • Interpolation of rotation
    • Smooth Cartesian motion
    • Time-varying coordinate frames, angular velocity
    • Inertial navigation solution