机器人系列ME4135 Robotics .pptVIP

ME 4135 Robotics Control Slide Set 3 – Review of Matrix Methods Applicable to Robot Control Creating a Rational Approach to Kinematics – A review of Matrix Methods As the robots got more and more “Revolute” building Inertial models (FKS IKS) was increasingly complicated We would like a more logical approach to this problem We will define a concept of Homogeneous Matrices in S–O3 Space to aid in this model building effort Consider, we only built Positional DOF models to this point We need both Position Orientation models to drive real robots! Considering Translation and Rotation Translation