Introduction to Robotics_slides_houston_robotics 2009

Introduction to Robotics_slides_houston_robotics 2009

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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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