3D Kinematics.pptVIP

The concept of canonical (or conjugate) variables is of major importance. They always occur in complementary pairs, such as spatial location x and linear momentum p, angle φ and angular momentum L, and energy E and time t. They can be defined as any coordinates whose Poisson brackets give a Kronecker delta (or a Dirac delta incase of discrete variables). Quaternion in Multi-Sensor Robot Navigation System (by S. Persa, P. Jonker, Technical University Delft, Netherlands) Used quaternions Dimensional Synthesis of Spatial RR Robots(A. Perez, J.M. McCarthy, University of California, Irvine) Start* Finish* *assumption Let’s do rotation! x y z b a c b a c b a c Visualization of quaternions Difficult to visualize Not for the weak-on-math Visualizing Quaternion Rotation Removing 720 degree twist without moving either end (from: J.C. Hart, G.K. Francis, L.H. Kauffman, Visualizing Quaternion Rotation, ACM Transactions on Graphics, Vol. 13, No. 3 July 1994, p.267) Quaternion Explained! By Mathias Sunardi for Quantum Research Group Seminar June 15, 2006 * * * * * * * * * Find largest qi2; solve the rest * * * * * * * Matrix Rotation Matrix Rotation is based on 3 rotations: On axes: x, y, z Or yaw, pitch, roll (which one corresponds to which axis, depends on the orientation to the axes) Sequence matters (x-y may not equal y-x) x y z Matrix Rotation x y z Quaternion Rotation w = cos(θ/2) v = sin(θ/2)? Where ? is a unit/normalized vector u (i, j, k) Quaternion can be represented as: q=cos(θ/2)+sin(θ/2)(xi+yj+zk) or q=cos(θ/2)+sin(θ/2) ? v(x,y,z) w Parts of quaternion Matrix rotation versus quaternion rotation Let’s do rotation! x y z Let’s do rotation! x y z b a c b a c b a c Let’s do another one! x y z Quaternion? v(x,y,z) w Can create rotation by using arbitrary axis (v(x,y,z)) and rotate the object by w amount. Rotation of a Quaternion Calculation is still done in matrix form Given a quaternion: q = w + xi+ yj + zk The matrix form of quaternion q is: v(