Rigid-body motion and reference frames
24 min · IntermediateUnderstand the concept
A rigid-body pose captures translation and orientation relative to a reference frame. Manipulation systems depend on consistent frames for the base, joints, tool, target and sensors. Wrong transforms can turn a correct planner into unsafe motion.
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Your exercise
Draw base, tool and target frames for a simple robot arm and label known and unknown transformations.
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Knowledge check
What does a robot pose typically represent?
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