机器人学基础Robotics-Chap02.pdfVIP

CHAPTER 2 Spatial descriptions and transformations 2.2 DESCRIPTIONS: POSITIONS, ORIENTATIONS, AND FRAMES Description of a position: position vector (a leading subscript indicating the coordinate system to which they are referenced.) Description of an orientation: rotation matrix  A A A   where ，X B YB Z B denote the unit vectors given the principal directions of {B} in terms of {A}. (column vector here) rotation matrix describes {B} relative to {A}.  A A to calculate A X   B YB Z B dot product, projection    X ⋅X  B A  A ˆ X B X B =⋅YA   ˆ  {A} or {B} is omitted here X B ⋅Z A        A A or B B X ⋅ X X ⋅ X X ⋅X B A B A B A the components of rotation matrices are often referred to as direction cosines. further inspection of rotation matrix 1: norm of each column vector in A R equals one B Proof: from the definition of rotation matrix, we can easily get this. further inspection of rotation matrix 2: Proof: the description of {A} relative to {B} could be written as  ˆ ˆ ˆ ˆ ˆ ˆ  X ⋅X Y ⋅X Z ⋅X  A B A B A B  B B B B  ˆ ˆ ˆ  ˆ ˆ ˆ ˆ ˆ ˆ A R  X A YA Z A  X A ⋅YB YA ⋅YB Z A ⋅YB   ˆ ˆ ˆ ˆ