Time and Motion

  • Peter Corke
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 73)


In the previous chapter we learnt how to describe the pose of objects in 2- or 3-dimensional space. This chapter extends those concepts to objects whose pose is varying as a function of time.

For robots we wish to create a time varying pose that the robot can follow, for example the pose of a robot’s end-effector should follow a path to the object that it is to grasp. Section 3.1 discusses how to generate a temporal sequence of poses, a trajectory, that smoothly changes from an initial pose to a final pose.

Section 3.2 discusses the concept of rate of change of pose, its temporal derivative, and how that relates to concepts from mechanics such as velocity and angular velocity. This allows us to solve the inverse problem – given measurements from velocity and angular velocity sensors how do we update the estimate of pose for a moving object. This is the principle underlying inertial navigation.


Angular Velocity Coordinate Frame Acceleration Time Inertial Navigation System Final Velocity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Peter Corke

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