机器人运动学Kinematics_final.pptVIP

An Introduction to Robot Kinematics An Example - The PUMA 560 * Renata Melamud Kinematics studies the motion of bodies The PUMA 560 has SIX revolute joints A revolute joint has ONE degree of freedom ( 1 DOF) that is defined by its angle 1 2 3 4 There are two more joints on the end effector (the gripper) Other basic joints Spherical Joint 3 DOF ( Variables - ?1, ?2, ?3) Revolute Joint 1 DOF ( Variable - ?) Prismatic Joint 1 DOF (linear) (Variables - d) We are interested in two kinematics topics Forward Kinematics (angles to position) What you are given: The length of each link The angle of each joint What you can find: The position of any point (i.e. it’s (x, y, z) coordinates Inverse Kinematics (position to angles) What you are given: The length of each link The position of some point on the robot What you can find: The angles of each joint needed to obtain that position Quick Math Review Dot Product: Geometric Representation: Unit Vector Vector in the direction of a chosen vector but whose magnitude is 1. Matrix Representation: Quick Matrix Review Matrix Multiplication: An (m x n) matrix A and an (n x p) matrix B, can be multiplied since the number of columns of A is equal to the number of rows of B. Non-Commutative Multiplication AB is NOT equal to BA Matrix Addition: Basic Transformations Moving Between Coordinate Frames Translation Along the X-Axis N O X Y VNO VXY Px VN VO Px = distance between the XY and NO coordinate planes P (VN,VO) Notation: N X VNO VXY P VN VO Y O ? Writing in terms of X VXY PXY N VNO VN VO O Y Translation along the X-Axis and Y-Axis Unit vector along the N-Axis Unit vector along the N-Axis Magnitude of the VNO vector Using Basis Vectors Basis vectors are unit vectors that point along a coordinate axis N VNO VN VO O Rotation (around the Z-Axis) X Y Z X Y N VN VO O ? V VX VY ? = Angle of rotation between the XY and NO coordinate axis X