1 / 10

Manipulation

Manipulation. Umashankar Nagarajan. Rotation. Z. Y. Z. Y. A. B. B. A. X. X. A. B. Rotation Matrix. about X axis about Y axis about Z axis. Properties of a Rotation Matrix. Orthonormal Matrix. Euler Angles. Z-Y-X First, rotate about by Then, rotate about by

harmon
Télécharger la présentation

Manipulation

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Manipulation Umashankar Nagarajan

  2. Rotation Z Y Z Y A B B A X X A B Umashankar Nagarajan

  3. Rotation Matrix • about X axis • about Y axis • about Z axis Umashankar Nagarajan

  4. Properties of a Rotation Matrix Orthonormal Matrix Umashankar Nagarajan

  5. Euler Angles • Z-Y-X • First, rotate about by • Then, rotate about by • Then, rotate about by Umashankar Nagarajan

  6. Transformation Z Y Z Y A A B B X X A B Umashankar Nagarajan

  7. Transformation • Inverse transformation Umashankar Nagarajan

  8. Manipulator Kinematics • Common joint types with one DOF • Revolute • Prismatic Umashankar Nagarajan

  9. Forward Kinematics Umashankar Nagarajan

  10. THE END Umashankar Nagarajan

More Related