methods one by one. As we saw, The numerical method relies on the forward kinematics (homogeneous transformation of the end-effector with respect to the base frame Tsb). This requires screw axes assignments from previous parts and computing the exponential form of the transformation matrix that we also had in previous parts of this lesson. Therefore you need to create the function that will convert a combination of a screw axis and joint angle to a homogeneous transformation matrix (exponentiation), as follows: In the numerical method, you need to get the twist vector from the matrix form of the twist vector. The following helper function does this job for you: 11 Computer Vision News Vision-aided Screw Theory-based… Computer Vision News is very grateful to Madi and her team for this awesome lesson in robotics!

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