(精选)【机器人系列】ME 4135 Robotics Control教学课件.pptVIP

ME 4135 Robotics Control;Creating a Rational Approach to Kinematics – A review of Matrix Methods;Considering Translation and Rotation ;Defining Transformations – here lets consider translational transformations;Translational Transformation;Defining the Homogeneous Transformation Matrix;Defining the Homogeneous Transformation Matrix;HTM – A Physical Interpretation;What about Rotational Transformations?;After Rotation we find this Relationship;What is the Representation of P1 in Both Frames? ;By Inner Products:;Collecting Simplifying :;Converting it to a HTM Form (4x4);Lets See? ? is 37deg and P1 is (2,4,6);Solving then:;What about Pure Rotation about X or Y Axes?;Lets look at Another Issue!;First Define two simple Operations:;Now Define 2 Cases:;Check Order issue:;Autocad Here! (Case 1:Trans – rot);Given P2 (1,1,0)2 Where is it in Space0?;Is (3,1,0,1)0 Equal to T20*(1,1,0,1)2?;Check Order issue:;AutoCad Again (Case1: Rot-Trans);Given P2 (1,1,0)2 Where is it in Space0?;Is (-1,5,0,1)0 Equal to T20*(1,1,0,1)2?;Checking Case Two;Autocad: (Case2 Trans – Rot);Looks Familiar!;Case 2: Rot - Translate;Autocad: (Case 2, Rot-Trans);Looks Familiar Too;This can be Generalized;This Does Matter!;One Last General Idea: Robot Mapping;Robot Mapping:;Robot Mapping;Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Robot Mapping (cont.);Now its your turn: