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Rime 800 Robotics 1: DR Irtiza

The document discusses spatial descriptions and transformations in robotics. It covers topics like mappings between reference frames, operators for translations and rotations, transformation arithmetic, representation and orientation of reference frames, and line and free vectors. It instructs the reader to work through several examples that involve trigonometric functions like cosine and sine when rotating reference frames. The next meeting will include a quiz, more examples, and a possible start on the next chapter which is about manipulator kinematics.

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Rana Usman Khalid
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
33 views

Rime 800 Robotics 1: DR Irtiza

The document discusses spatial descriptions and transformations in robotics. It covers topics like mappings between reference frames, operators for translations and rotations, transformation arithmetic, representation and orientation of reference frames, and line and free vectors. It instructs the reader to work through several examples that involve trigonometric functions like cosine and sine when rotating reference frames. The next meeting will include a quiz, more examples, and a possible start on the next chapter which is about manipulator kinematics.

Uploaded by

Rana Usman Khalid
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 20

RIME 800 ROBOTICS 1

Dr Irtiza

Text: John J Craig, Introduction to Robotics, Pearson


Prentice Hall, 2005

Ch 2: Spatial descriptions & transformations

Mappings: Changing descriptions from frame to frame

Please go thru
example 2.2
Remember
cos30=0.866 and
sin30=0.5
2

OPERATORS: TRANSLATIONS, ROTATIONS


& TRANSFORMATIONS

Just another view of translations or rotation of vectors in the same frame


instead of between frames

OPERATORS: TRANSLATIONS, ROTATIONS


& TRANSFORMATIONS

OPERATORS: TRANSLATIONS, ROTATIONS &


TRANSFORMATIONS

Please go thru example 2.3


Remember cos30=0.866 and sin30=0.5
5

OPERATORS: TRANSLATIONS, ROTATIONS &


TRANSFORMATIONS

Please go thru example 2.4


Remember cos30=0.866 and sin30=0.5
6

Summary of Interpretations

Transformation
Arithmetic

Transformation Arithmetic

Please go thru example 2.5


cos30=0.866 and sin30=0.5

Transform Equations

Please go thru example 2.6

10

Representation & Orientation

Rotation do not commute

Please go thru example 2.7

11

Representation & Orientation: X-Y-Z fixed angles

12

Representation & Orientation: X-Y-Z fixed angles

13

Representation & Orientation: Z-Y-X fixed angles

14

Representation & Orientation: Z-Y-X fixed angles

Mostly used for ground robots and aircraft

15

Representation & Orientation: Z-Y-Z fixed angles

Mostly used for ground robots and spacecraft

16

Representation
& Orientation

Other orientations: Appendix B


Example 2.8; (2.9 is a bit involved)
Euler parameters (quaternions)

17

Line vectors and free vectors

18

Computational Considerations

19

Next time
Quiz

2
Examples
If possible start Ch 3: Manipulator
Kinematics
OHT 1 on Oct 10th 2012

20

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