机器人学第二章运动学.pptVIP

第二章 机器人运动学 § 2.4 算子 : 平移、旋转和变换 运算的结果得到一个新的矢量，计算如下： 用矩阵算子写出平移变换 A A A P 2 ? A P ? Q 1 P 2 ? D Q ( q ) A P 1 where q is the signed magnitude of the translation along the vector ? direction . Q 21 第二章 机器人运动学 § 2.4 算子 : 平移、旋转和变换 算子 D Q 可以被看成是一种特殊形式的齐次变换 : ? 1 ? 0 D Q ( q ) ? ? ? 0 ? ? ? 0 式中 0 0 q x ? ? 1 0 q y ? 0 1 q z ? ? 0 0 1 ? ? q x , q y , q z 是平移矢量 Q 的分量 q ? q ? q ? q 2 x 2 y 2 z A P BORG ) , 我们使得 这两个描述具有相同的数学表达式。现在引入了 D Q ，我们可以用它 来描述坐标系和映射。 22 通过定义 {B} 相对于 {A} 的位置， ( 用 第二章 机器人运动学 § 2.4 算子 : 平移、旋转和变换 2) 旋转算子（ Rotational operators ） Another interpretation of a rotation matrix is as a rotational operator A that operates on a vector and changes that vector to a new vector, P A P 2 , by means of a rotation, R. When a rotation matrix is shown as P 2 ? R A P 1 Again, the mathematics is the same, only our interpretation is A 1 an operator, no sub- or superscripts appear, because it is not viewed as relating two frame. We may write: different. How to obtain rotational matrices that are to be used as operators: The rotation matrix that rotates vectors through some rotation, R, is the same as the rotation matrix that describes a frame rotated by R relative to the refrence frame. 23 第二章 机器人运动学 § 2.4 算子 : 平移、旋转和变换 Although a rotation matrix is easily viewed as an operator, we can also define another notation for a rotational operator that clearly indicates which axis is being rotated about: A P 2 ? R K ( ? ) P 1 A R K ( ? ) is a rotational operator that performs a rotation about the axis ? direction by degrees. ? K For example: ? cos ? ? sin ? R Z ( ? ) ? ? ? 0 ? ? 0 ? sin ? 0 cos ? 0 0 1 0 0 0 ? ? 0 ? 0 ? ? 1 ? 24 第二章 机器人运动学 § 2.4 算子 : 平移、旋转和变换 A Example: Figure shows a vector . We wish to compute the vector P 1 obtained by rotating this vector about Z by 30 degrees. Call the new A vector . P 2 The rotation matrix that rotates vectors by 30 degrees about Z is the same as the rotation matrix that describes a fra