外文翻译--坐标系变换和速度分解控制方法英文版.doc

 Coordinate Transformation and. Resolved Motion Rate Control A robot is made up of links connected by joints. In kinematic analysis, it is considered to be a chain of links and joints. At one end of the chain is the supporting base;at the other end is the end effector or hand.  Controlling a robot requires that the end effector or hand be moved to a specific point in space to carry out a task. In performing the task, the robot?ˉs end effector must move through a particular designated path. This section discusses a simplified mathematical method that is useful in describing the relationship of the end effector to the robot base coordinates. Both the position in space nd the orientation or direction of the robot?ˉs end effector must be described and controlled.  Determining the position and orientation of any joint in a robot relative to its base coordinate set requires the transformation of coordinates through all other joints between the base reference and the joint whose coordinates are being determined. If the robot has six joints, or degrees of freedom, it is necessary to set up six coordinate transfers, one for each joint. Each transformation relates the coordinates of one joint to the coordinates of the previous joint in the chain of links and joints. Joint-to-World Transformations World coordinates are defined as the base reference coordinates of the robot. These coordinates are taken through the base joint of the robot or at a known distance from it. Base coordinates, by convention, are defined asx0,y0, and z0 in the 0 coordinate frame.  Joint coordinates are defined as the set of coordinates centered on a particular j¨¤int. In a sliding or prismatic joint, one coordinate of the coordinate set is along the direction of motion. In a rotary or revolute joint, one coordinate is parallel to the axis of the joint. Figure 6.23 shows the relationship between the successive joints in a robot. Joint I -1 could be taken as the base referenc