Manipulation Umashankar Nagarajan. Rotation 2/28/2013Umashankar Nagarajan2 Z A Y A X A Z B Y B X B.

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Robot Modeling and the Forward Kinematic Solution
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Robot Modeling and the Forward Kinematic Solution
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Presentation transcript:

Manipulation Umashankar Nagarajan

Rotation 2/28/2013Umashankar Nagarajan2 Z A Y A X A Z B Y B X B

Rotation Matrix about X axis about Y axis about Z axis 2/28/2013Umashankar Nagarajan3

Properties of a Rotation Matrix 2/28/2013Umashankar Nagarajan4 Orthonormal Matrix

Euler Angles 2/28/2013Umashankar Nagarajan5

Transformation 2/28/2013Umashankar Nagarajan6 Z A Y A X A Z B Y B X B

Transformation 2/28/2013Umashankar Nagarajan7

Manipulator Kinematics Common joint types with one DOF Revolute Prismatic 2/28/2013Umashankar Nagarajan8

Forward Kinematics 2/28/2013Umashankar Nagarajan9

THE END 2/28/2013Umashankar Nagarajan10

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