rime 800 lecture 3
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RIME 800 ROBOTICS 1 Dr Irtiza
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Text: John J Craig, Introduction to Robotics, Pearson Prentice Hall, 2005
Mappings: Changing descriptions from frame to frame
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Please go thru example 2.2 Remember cos30=0.866 and sin30=0.5
Ch 2: Spatial descriptions & transformations
OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS � Just another view of translations or rotation of vectors in the same frame
instead of between frames
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OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS
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OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS
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Please go thru example 2.3 Remember cos30=0.866 and sin30=0.5
OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS
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Please go thru example 2.4 Remember cos30=0.866 and sin30=0.5
Summary of Interpretations
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Transformation Arithmetic
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Transformation Arithmetic
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Please go thru example 2.5 cos30=0.866 and sin30=0.5
Transform Equations
10 Please go thru example 2.6
Representation & Orientation
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Rotation do not commute
Please go thru example 2.7
Representation & Orientation: X-Y-Z fixed angles
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Representation & Orientation: X-Y-Z fixed angles
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Representation & Orientation: Z-Y-X fixed angles
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Representation & Orientation: Z-Y-X fixed angles
15 Mostly used for ground robots and aircraft
Representation & Orientation: Z-Y-Z fixed angles
16 Mostly used for ground robots and spacecraft
Representation & Orientation
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� Other orientations: Appendix B � Example 2.8; (2.9 is a bit involved) � Euler parameters (quaternions)
Line vectors and free vectors
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Computational Considerations
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Next time � Quiz 2 � Examples � If possible start Ch 3: Manipulator
Kinematics � OHT 1 on Oct 10th 2012
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