CPSC 452: Lecture 1 Introduction, Homogeneous transformations and Coordinate frames

2 Introduction Robots in movie

3 Modern Robots Robot in life –Industry –Medicare

4 Modern Robots Robot in life –Home/Entertainment

5 Modern Robots Robots in life –Military/Unmanned Vehicle

6 What is a robot “A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks” – by Robot Institute of America

7 Scope of CPSC 452 PlanningSensing Control Dynamics Kinematics Rigid body mechanics

8 Scope of CPSC 452 PlanningSensing Control Dynamics Kinematics Rigid body mechanics

9 Intro Space –Type – Physical, Geometry, Functional –Dimension –Direction Basis vectors –Distance Norm –Description – Coordinate System Matrix

10 A review of vectors and matrix Vectors –Column vector and row vector –Norm of a vector

11 Dot product of two vectors Vector v and w If |v|=|w|=1,  v w

12 Position Description Coordinate System A

13 Orientation Description Coordinate System A

14 Orientation Description Coordinate System A Attach Frame Coordinate System B

15 Orientation Description Coordinate System A Attach Frame Coordinate System B Rotation matrix

16 Rotation matrix Directional Cosines

17 Rotation matrix For matrix M, –If M -1 = M T, M is orthogonal matrix – is orthogonal!!

18 Orthogonal Matrix 9 Parameters to describe orientation!

19 Description of a frame Position + orientation

20 Graphical representation {A} {B} {U}

21 Mapping – Translation Difference

22 Mapping – rotation difference

23 Example 30 

24 Rotation + Translation Difference

25 Homogeneous Transformation

26 Mapping – Translation Difference

27 Translation Operator Translation operator

28 Mapping – rotation difference

29 Rotation Operator   