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ID:40081796
大小:2.05 MB
页数:110页
时间:2019-07-20
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1、OutlineIntroductiontoRoboticsBernardBAYLEJointcourseUniversityofStrasbourg,UniversityofHouston,TelecomParisTech2008–2009OutlineOutline1Rigid-BodyMechanicsMathematicalBackgroundRotationRigid-BodyTransformationRigid-BodyMotion2DescriptionofRoboticManipu
2、latorsKinematicChainsModifiedDenavit-HartenbergParameterizationGeometricEquationsVelocityEquations3RoboticManipulatorsModellingConfigurationandPoseofaRoboticManipulatorDirectKinematicsInverseKinematicsDifferentialKinematicsRigid-BodyMechanicsDescription
3、ofRoboticManipulatorsRoboticManipulatorsModellingPointsNotationsF=(O;x;y;z)isaCartesianright-handorthonormalframe,withGibbsconvention.Rigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipulatorsModellingPointsNotationsF=(O;x;y;z)isaCartesian
4、right-handorthonormalframe,withGibbsconvention.PointMposition:vectormwithcoordinates2R3:01mxm=@myAmzRigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipulatorsModellingPointsNotationsF=(O;x;y;z)isaCartesianright-handorthonormalframe,withGib
5、bsconvention.PointMposition:vectormwithcoordinates2R3:01mxm=@myAmzPointMotionm(t):parametriccurveinR3Rigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipulatorsModellingPointsNotationsF=(O;x;y;z)isaCartesianright-handorthonormalframe,withGi
6、bbsconvention.PointMposition:vectormwithcoordinates2R3:01mxm=@myAmzPointMotionm(t):parametriccurveinR3PointPathm(s):geometricpathassociatedtothemotion(s2[01]normalizedcurvilinearabscissa)Rigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipu
7、latorsModellingRigid-BodyandRigid-BodyTransformationRigidbody:foranypairofpointswithcoordinatesmandn:jjm(t) n(t)jj=jjm(0) n(0)jj=constantRigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipulatorsModellingRigid-BodyandRigid-BodyTransformati
8、onRigidbody:foranypairofpointswithcoordinatesmandn:jjm(t) n(t)jj=jjm(0) n(0)jj=constantRigid-bodypose:positionandorientationofaframeattachedtothisrigidbodyinFRigid-BodyMechanicsDescriptionofRoboticManipulatorsRoboticManipulatorsModellingRigid-
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