rime 800 lecture 3

RIME 800 ROBOTICS 1 Dr Irtiza

1

Text: John J Craig, Introduction to Robotics, Pearson Prentice Hall, 2005

Mappings: Changing descriptions from frame to frame

2

Please go thru example 2.2 Remember cos30=0.866 and sin30=0.5

Ch 2: Spatial descriptions & transformations

OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS �  Just another view of translations or rotation of vectors in the same frame

instead of between frames

3

OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS

4

OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS

5

Please go thru example 2.3 Remember cos30=0.866 and sin30=0.5

OPERATORS: TRANSLATIONS, ROTATIONS & TRANSFORMATIONS

6

Please go thru example 2.4 Remember cos30=0.866 and sin30=0.5

Summary of Interpretations

7

Transformation Arithmetic

8

Transformation Arithmetic

9

Please go thru example 2.5 cos30=0.866 and sin30=0.5

Transform Equations

10 Please go thru example 2.6

Representation & Orientation

11

Rotation do not commute

Please go thru example 2.7

Representation & Orientation: X-Y-Z fixed angles

12

Representation & Orientation: X-Y-Z fixed angles

13

Representation & Orientation: Z-Y-X fixed angles

14

Representation & Orientation: Z-Y-X fixed angles

15 Mostly used for ground robots and aircraft

Representation & Orientation: Z-Y-Z fixed angles

16 Mostly used for ground robots and spacecraft

Representation & Orientation

17

�  Other orientations: Appendix B �  Example 2.8; (2.9 is a bit involved) �  Euler parameters (quaternions)

Line vectors and free vectors

18

Computational Considerations

19

Next time � Quiz 2 � Examples �  If possible start Ch 3: Manipulator

Kinematics � OHT 1 on Oct 10th 2012

20