Computer Vision News 6 by Madi Babaiasl, Bryan MacGavin, Daniel Montes Tolon, Namrata Roy 1 Introduction This lesson is the first part of a series of four lessons that integrate the principles of screw theory-based numerical inverse kinematics with visionbased control of robotic arms using the Robot Operating System (ROS2). It is designed to provide an understanding of how to leverage the mathematical foundations of screw theory-based numerical inverse kinematics in robotics alongside the functionalities of ROS2, to control a robot arm through visual feedback. In this lesson, you will learn how to set up 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. Here is part 1. Parts 2 and 3 will be published in the April and May 2024 issues of Computer Vision News. You will find them in our archives after April and May 2024. Vision-aided Screw Theory-based Inverse Kinematics Control of a Robot Arm Using Robot Operating System (ROS2) - Part 1
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