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ME3015 - Industrial Robot - Nguyen, Quoc Chi - C3
ME3015 - Industrial Robot - Nguyen, Quoc Chi - C3
ME3015 - Industrial Robot - Nguyen, Quoc Chi - C3
-A coordinate system
(frame) is attached rigidly
to the object. Then
proceed to describe the
position and orientation of
this frame with respect to
some reference coordinate
system.
COORDINATES ON ROBOT
Description of a position
Once a coordinate system is established, any point in the
universe can be located with a 3 1 position vector.
Descriptions of positions
Description of a orientation
2D case
Description of a orientation
3D case
What is the matrix descript the
relation between two frame?
Description of a orientation
- The complete location of the hand is
still not specified until its orientation
is also given.
- A coordinate system (B) has been
attached to the body in a known way.
A description of {B} relative to (A)
now suffices to give the orientation of
the body.
Projections of {A}
onto {B}:
Example
Finite Δx,Δy,Δz or infinitesimal dx, dy, dz translations (linear displacements) always commute
Description of a frame
A frame is a coordinate system where, in addition to the orientation,
we give a position vector which locates its origin relative to some other
embedding frame.
Rotation matrix
A P A
R A
PBORG B P
B
1 0 0 0 1 1
(4 1) (4 4) (4 1)
Rotational operators
Another interpretation of a rotation matrix is as a rotational operator
that operates on a vector AP1 and changes that vector to a new vector,
AP , by means of a rotation, R.
2
Transformation operators
A frame has another interpretation as a transformation operator.
In this interpretation, only one coordinate system is involved,
and so the symbol T is used without sub- or superscripts. The
operator T rotates and translates a vector AP1 to compute a new
vector AP2.
Summary of interpretations
information.
0 0 0 1
There are three interpretations of this
homogeneous transform:
A
R CBR A B
R P A
P
CT
A B B CORG BORG
0 0 0 1
Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD) 3-34
Mechatronics Dept., Dynamics & Control Group, 207701-Industrial Robot
Transformation arithmetic
Inverting a transform
A
R A
PBORG
BT
A B
0 0 0 1
We have:
A
RT BART A PBORG
AT
B B
0 0 0 1
Solution:
Transformation operators
A frame has another interpretation as a transformation
operator. In this interpretation, only one coordinate
system is involved, and so the symbol T is used without
sub- or superscripts. The operator T rotates and
translates a vector AP1 to compute a new vector AP2.
Transform equations
6 constraints
Note:
If
If
Solution: define two new frames {A’} and {B’} so that their
origins are at AP = [1.0 2.0 3.0]T and
We have