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Ch2 Spatial Description and Transformation Ch2.

Objectives

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. Know and be able to use the mappings: changing descriptions from frame to frame. Be able to use the operators: translations, rotations, and t transformations. f ti

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Outline

Chapter 2 covers the mathematics used to describe positions and orientations in 3-space. This is extremely important material: t i l By B definition, d fi iti mechanical h i l manipulation i l ti concerns itself it lf with moving objects (parts, tools, the robot itself) around in space. 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. Changing descriptions from frame to frame. Translations, rotations, and transformations.

Mappings

Operators

Transformation arithmetic Euler angles Computational considerations

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Robotic Manipulation

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Descriptions: Positions, Positions Orientations Orientations, and Frames

Description of a Position

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Description of an Orientation

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Rotation Matrix : {B} relative to {A}

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Description esc p o o of frame a e{ {A} } relative e a e to o{ {B} }: Inverse of a rotation matrix

A B B 1 B T R= A R =A R

B A

A T R= B R

Description of a Frame

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Mapping: Changing Descriptions between Frames

Mapping involving Translated Frames

P = B P + A PB ,org

Mapping involving Rotated Frames

A A B P= B R P

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Ex 2-1 Ex.2 1 Mapping involving Translated Frames

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Mapping involving General Frames

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Operators: Translations, Rotations, and Transformations

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Translational Transformation (or Operator)

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Rotational Transformation

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Transformation Operator

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Transformation Arithmetic

Compound Transformations: Figs. Figs 2.12, 2 12 14 14~16 16

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Inverting a Transformation

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Representation of Orientation

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Inverse Problem

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Reading assignments

Z-Y-Z Euler angles Equivalent angle angle-axis axis representaton

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Computational Considerations

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Home Works

Exercise 2.1 2.3 2.5 2.18 2 32 2.32 2.37

Simulation by Matlab

Exercise 2A 2B

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