ME 562

THEMES

• MATHEMATICAL MODELS FOR OBJECT LOCATION
• VALIDATION OF MODELS USING ROBOTIC VISION

AGENDA LECT 3-1

• ANNOUNCEMENTS
  • SCHEDULING THE ROBOT -- TEAMS OF THREE
  • ORLANDO TRIP
  • APPENDIX A -- MATH REVIEW
  • KEY POINTS CHAP 3
  • EXAMPLE PROBLEMS
  • LITTLE ERROR CHECKING

AGENDA LECT 3-2

• QUESTIO NS CHAP 2
• CHAPTER 3
  • Notation -- FIG 3.1
  • 2-D VECTORS FOR POINTS --FIG 3.2
  • 2-D VECTORS FOR FRAMES -- FIG 3.5
  • 2-D TRANSFORMATIONS
  • DERIVATION OF 2-D ROTATION MATRIX --
  • 2-D HOMOGENEOUS TRANSFORMS EQ 3.13 ,EQ 3.14, EQ 3.15

AGENDA LECT 3-3

• 3-D HOMOGENEOUS TRANSFORMS
• EXAMPLES OF 3-D TRANSFORMATIONS OF A POINT EQ 3.17 TO 3.22
• RIGHT TO LEFT: LEFT TO RIGHT FIG 3.12
• 3-D COORDINATES FRAMES
• EXAMPLES OF 3-D TRANSFORMATIONS OF FRAMES
• TRANSFORMATIONS BY INSPECTION
• RELATIVE TRANSFORMATIONS
• TRANSFORM GRAPHS

AGENDA LECT 3-4

• EXAMPLE PROBLEMS
  • FOUR FRAMES IN SPACE
  • BLOCK ASSEMBLY
  • PYRAMID
  • PICK & PLACE
  • VISION PROBLEMS 3.20 & 3.21