Chapter 2 robot

Spatial descriptions
and transformations
Main point.
DESCRIPTION:
Transformation
POSITIONS,
ORIENTATIONS,
FRAMES

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MAPPINGS: CHANGING
DESCRIPTIONS FROM FRAME TO
FRAM
OPERATORS: TRANSLATIONS,
ROTATIONS, AND TRANSFORMATIONS
TRANSFORMATION ARITHMETIC
TRANSFORM EQUATIONS.
coordinate systems
Translational mapping

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1. positions: it represent like{A};{B};{C}
A point A P is represented as a vector and
can equivalently be thought of as a position in space, or
simply as an ordered set of three numbers. Individual
elements of a vector are given the subscripts x, y, and z:
A P=[PX,PY,PZ].1.
2. orientation:
{A} Az

Ax
Ay
figure 2.1: Vector relative to frame (example).

Ap

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NB.1.position of apposition of a point is
represented with a vector, and orientation
of a body is represented with a matrix.
The dot product of two unit vectors yields
the cosine of the angle between them. this
is called direction cosine.
In order to describe the orientation of a
body, we will attach a coordinate system
to the body and then give a description of
this coordinate system relative to the
reference system.

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3.frame:
EXAMPLE 2.1Figure 2.6 shows a
frame {B} that is rotated relative to
frame {A} about Z by 30 degrees.
Here, Z is pointing out of the page.

YB
YA

XB

ZB(0,0,1)
ZA
XA