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Homework RobiticShow

Homework RobiticShow

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Published by Lay Meng Hort

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Published by: Lay Meng Hort on Sep 28, 2013
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09/28/2013

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TOKAI UNIVERSITY ROBOTICSHomework: 2012-11-22 1 By: LAY MENG HORT 
Professor: Dr. Yoshio YamamotoStudent: Lay Meng HortHome Work RoboticsIf the vector 
is changing with respect to the frame, namely
 ̇  ̈
, the expression
  ̈
̇(
must bemodified.Verify this equation is replaced by
  ̈
̇( ̇
 Where
  ̈
  ̈
 Here the additional term
 ̇
is known as the Coriolis acceleration.SolutionThe vector 
is change with respect to the frame

1
, and the frame
1
is rotating relative to the fix frame

0
.
Z
0
Y
0
Y
0
Z’
1
 
 
Y’
1
 
 
 
O
0
O
1
0
 
 
Z
1
X
1
Y
1
1
 
 
TOKAI UNIVERSITY ROBOTICSHomework: 2012-11-22 2 By: LAY MENG HORT 
The coordinates of 
in the frame

0
are given by
 (
 The velocity
is given by
 ̇((
(
 Suppose that the homogeneous transformation relating the two frameis time dependent, so that:
([(
(
]
,
[
]
,
[
]
 For simplicity we omit the argument t and the subscripts andsuperscripts on and ,and write:
 
 ̇ ̇
 ̇
 ̇
( use

(


)
(
 
 ̇
 ̇
(
 ̇(
 

 
 
⃗
 ̇
 ̇
 
  ̈ ̇
 ̇
 ̇
) ̇ ̇
  ̈
  ̈
 (
)
  ̈ ̇
(
 
 ̇
)(
 
 ̇
  ̈
  ̈
 
 ̇
) ̇
  ̈
  ̈
 
 ̇
) ̇
  ̈
  ̈
 

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