机器人学基础第3章机器人运动学蔡自兴.pptVIP

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010;3.0 Introduction to Robot Kinematics;In manipulator robotics, there are two kinematics tasks: Direct (also forward) kinematics – Given are joint relations (rotations, translations) for the robot arm. Task: What is the orientation and position of the end effector? Inverse kinematics – Given is desired end effector position and orientation. Task: What are the joint rotations and orientations to achieve this?;Example of Direct Kinematics;式中;机器人到达给定的手爪位置 P有两个姿态满足要求，即图中的 也是其解。此时 和 变成为另外的值，即逆运动学的解不是惟一的。;*;*;*;*;*;*;*;*;*;*;*;*;*;*;*;*;*