robotics ch2
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Understand a need for representing positions and orientations
of parts, tools, and the mechanism itself.
Know and be able to use the special descriptions: positions,orientations, and frames.
from frame to frame.
Be able to use the operators: translations, rotations, andrans orma ons.
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Chapter 2 covers the mathematics used to describe positions
and orientations in 3-space. This is extremely importantmater a : y e n t on, mec an ca man pu at on concerns tsewith moving objects (parts, tools, the robot itself) around inspace. We need ways to describe these actions in a way that is
easily understood and is as intuitive as possible. Descriptions
Positions orientations and frames.
Mappings
Changing descriptions from frame to frame.
Translations, rotations, and transformations.
Transformation arithmetic
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Euler angles
Computational considerations
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, ,
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Rotation Matrix : {B} relative to {A}
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Descri tion of frame A relative to B : B A T
R R=
Inverse of a rotation matrix
1A B B TR R R
= =
Description of a Frame
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General Frames
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12Operators: Translations, Rotations, and
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~ . . ,
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Inverse Problem
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Z-Y-Z Euler angles
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Exercise 2.1
2.3 2.5
2.18
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2.37
Simulation by Matlab
Exercise 2A 2B
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