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Spatial Descriptions and
Transformations
• Space
– Type – Physical, Geometry, Functional
http://en.wikipedia.org/wiki/Space
– Distance
• Norm
– Description – Coordinate System
• Matrix
– Robots live in 3D Euclidean space
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Spatial Descriptions and
Transformations
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Generalized Coordinates
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End-Effector Configuration Parameters
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http://en.wikipedia.org/wiki/Configuration_space 6
A review of vectors and matrix
• Vectors
– Column vector and row vector
v1
v
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v 2 v v1 v2 vn
vn
– Norm of a vector
• If v w 1
v
v w cos w
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Position Description
• Coordinate System A
Ẑ A
x A
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P
A
P y
z
YˆA
X̂ A 9
Orientation Description
• Coordinate System A
A
Ẑ A P
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x
A
P y
z
YˆA
X̂ A 10
Orientation Description
• Coordinate System A
• Attach Frame B A
P
Ẑ A
(Coordinate System Ẑ B
B)
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x
P y
A
X̂ B
YˆB
z
YˆA
X̂ A 11
Orientation Description
• Coordinate System A
• Attach Frame
Ẑ A
Coordinate System B A Ẑ B
P
• Rotation matrix
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A
B R A
Xˆ B YˆB
A A
Zˆ B X̂ B
YˆB
r11 r12 r13 r31 Xˆ B Zˆ A
r21 Xˆ B YˆA
r21 r22 r23
YˆA
r31 r32 r33
r11 Xˆ B Xˆ A
X̂ A 12
Rotation matrix
Directional
A
B R Xˆ
A
B YˆB
A A
Zˆ B Cosines
B T
Xˆ B Xˆ A YˆB Xˆ A Zˆ B Xˆ A X̂ A
ˆ
X B YˆA YˆB YˆA ˆ ˆ
Z B YA
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Xˆ B Zˆ A YˆB Zˆ A Zˆ B Zˆ A
Directional
Cosines
B Xˆ AT
BˆT B ˆ
A
X̂ B
YˆA Zˆ A ABRT
T
YA X A B B
B Zˆ AT
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Rotation matrix
A B
B R A RT
A
B
B
RA R I BAR A
B
R 1
1
B
A R R
T B
A
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• For matrix M,
– If M-1 = MT , M is orthogonal matrix
– BA R is orthogonal!!
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Orthogonal Matrix
A
B R A
Xˆ B YˆB
A A
Zˆ B
Xˆ B Xˆ A YˆB Xˆ A Zˆ B Xˆ A
ˆ
X B YˆA YˆB YˆA ˆ ˆ
Z B YA
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Xˆ B Zˆ A YˆB Zˆ A Zˆ B Zˆ A
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Description of a frame
• Position + orientation
Ẑ A
Ẑ B
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{B} { R, PBORG}
A
B
A X̂ B
A
PBORG YˆB
YˆA
X̂ A 16
Mapping: Change Coordinates
– Translation Difference
Ẑ A
Ẑ B B
A
PBORG P
A
P
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X̂ B
YˆB
YˆA
A
P PBORG P
A B
I A
PBORG
X̂ A A P A B P BT
A
BT
1 1 0 0 0 1 17
Mapping – rotation difference
B
Px
A
P Px A Xˆ B Py AYˆB Pz A Zˆ B
B
P Py Px Xˆ B PyYˆB Pz Zˆ B B
Px
Ẑ A Pz [ A Xˆ B A
YˆB Z B ] Py
A ˆ
Pz
Ẑ B BAR BP
B
P A
P R P A B
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YˆB B
A P A B P
BT
1 1
YˆA
A
R 0
X̂ A BT
A B
X̂ B
0 0 0 1 18
Example
1 YˆB B
P
B
P 2 AP ? YˆA X̂ A
1 30
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Zˆ B Zˆ A X̂ B
A
B R Xˆ
A
B YˆB
A A
Zˆ B
Xˆ B Xˆ A YˆB Xˆ A Zˆ B Xˆ A cos 30 cos 60 cos 90
Xˆ B YˆA YˆB YˆA Zˆ B YˆA cos 120 cos 30 cos 90
Xˆ B Zˆ A YˆB Zˆ A Zˆ B Zˆ A cos 90 cos 90 cos 0
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Mapping: Rotation + Translation
Difference
Ẑ A
Ẑ B B
P
A
P
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YˆB
X̂ B
YˆA
A
P PBORG
A A
B R BP
X̂ A
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Homogeneous
Transformation for Mapping
A
P APBORG BAR BP
A Px A
PBORG _ x B Px
A A A
Py R PBORG _ y B Py
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B
A Pz A
PBORG _ z B Pz
1 0 0 0 1 1
A
B T
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Compound transformations
{A} {Au R,uPAORG } {B} {Bu R,u PBORG } {Au R BAR, BAR APBORG uPAORG }
A
P ABT BP
u
R u
PAORG BA R A
PBORG B
u
P uAT AP uAT ABT BP A P
0 1 0 1
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Ẑ A
Ẑ B
u
Ẑ u PBORG {B}
X̂ B
A
PBORG YˆB
{U}
Yˆu YˆA
{A}
X̂ u
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X̂ A
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Operators
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Rotational Operators
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Translation Operator
• Translation operator
A
Ẑ A P2
A
P1
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A
Q A
P2 P1 Q
A A
A
P2 DQ ( q) AP1
YˆA
1 0 0 qx
0 1 0 qy q q x q y qz
2 2 2
X̂ A DQ ( q)
0 0 1 qz
0 0 0 1 26
Recall: Mapping – rotation
difference
Ẑ A
A
P BAR AP
Ẑ B A P A B P
B
P BT
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A
R 0
YˆA BT
A B
X̂ A 0 0 0 1
X̂ B
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Relationship between Mapping with only
Rotational Difference and Rotation Operator
𝐴
𝑃1 = 𝐵𝐴𝑅 𝐵𝑃1 = 𝑅𝑍 (𝜃) 𝐴𝑃2
YˆA
YˆB P1 AP2 𝐴
𝐵𝑅 = 𝑅𝑍 (𝜃)
A B
P1
R Xˆ B YˆB Zˆ B
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A A A A
B
A
P2 Xˆ B Xˆ A YˆB Xˆ A Zˆ B Xˆ A
Xˆ B YˆA YˆB YˆA Zˆ B YˆA
X̂ B Xˆ B Zˆ A Yˆ Zˆ Zˆ B Zˆ A
B A
𝐴
𝐵𝑅 = 𝑅𝑍 (𝜃)
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Homogeneous Transformation for
Mapping
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General Operators
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Inverse Transform
Tu ABT Xac dinh B
T
A
B
A R BAR T BAR 1
B A
( PBORG ) ABR APBORG BPAORG 0
B
PAORG BAR T A PBORG
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Homogeneous Transform Interpretations
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Transform Equation
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Compound Transformations
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T ABT CBT
A
C
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Transform Equation
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T 1
A
B
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http://en.wikipedia.org/wiki/Invertible_matrix
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