Abstract: This paper introduces a novel architecture of neural networks based on a homogeneous transformation matrix for model-based reinforcement learning in robotics. It shows how the homogeneous ...

Includes functions for 6-DOF forward kinematics, Denavit-Hartenberg (DH) Matrix generation, cubic polynomial trajectory generation, homogeneous transformation matrix generation, and planar arm ...

Abstract: To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic ...

Fundamentals of Robotics: Practical Case Studies with Matlab & Python" is a comprehensive guide authored by Hamid D. Taghirad, designed for students, researchers, and practitioners in the field of ...

Homogeneous vector and plane, homogeneous transformation, position and orientation transformations, kinematics and inverse kinematic solutions of robot manipulators and mobile robots, Jacobian and ...

However, the homogeneous transformation matrix (HTM) is still employed in such models to ... new data structures to improve the calibration and programming efficiency of robots when executing a long ...

Topics include homogeneous transformation, coordinate definition for robot ... technologies to design software functions for planning and controlling a robot. 1. Vector and matrix operations. 2.