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

2. 2 Introduction Robots in movie

3. 3 Modern Robots Robot in life –Industry –Medicare

4. 4 Modern Robots Robot in life –Home/Entertainment

5. 5 Modern Robots Robots in life –Military/Unmanned Vehicle

6. 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. 7 Scope of CPSC 452 PlanningSensing Control Dynamics Kinematics Rigid body mechanics

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

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

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

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

12. 12 Position Description Coordinate System A

13. 13 Orientation Description Coordinate System A

14. 14 Orientation Description Coordinate System A Attach Frame Coordinate System B

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

16. 16 Rotation matrix Directional Cosines

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

18. 18 Orthogonal Matrix 9 Parameters to describe orientation!

19. 19 Description of a frame Position + orientation

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

21. 21 Mapping – Translation Difference

22. 22 Mapping – rotation difference

23. 23 Example 30 

24. 24 Rotation + Translation Difference

25. 25 Homogeneous Transformation

26. 26 Mapping – Translation Difference

27. 27 Translation Operator Translation operator

28. 28 Mapping – rotation difference

29. 29 Rotation Operator   