You Can Do What With Math Now?
summary
Shows how 2D serial manipulator kinematics are implemented with concrete code: homogeneous rotation matrices compute joint positions, forward kinematics gives a unique solution, inverse kinematics requires solving multiple possible angle sets and sometimes jumps. Uses HTML5 canvas for rendering, a vector module (linear algebra) compiled to the browser with browserify, and hardware control via Johnny-Five + Arduino to drive servos. Builds a small robot called Manny and the demos run live.
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chapters (20)
- 0:00Intro
- 1:20Math is everywhere
- 4:30Global coordinate system
- 6:10Local coordinate system
- 7:25Rotating around
- 7:50Transformation matrix
- 11:30Applying the transformation
- 12:20Canvas
- 13:00Canvas HTML
- 14:15Canvas Dance
- 17:20The Math Way
- 17:55Vector
- 19:25Browserify
- 21:15Robot
- 22:15Kinematics
- 24:40Inverse kinematics
- 27:15Manny
- 27:50Johnny
- 30:50Manny in his element
- 31:20Conclusion
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