Beruflich Dokumente
Kultur Dokumente
2.01
Rotation Kinematics
Robotics
2.02
Rotation Kinematics
Consider a rigid body with a fixed point Rotation about the fixed
point is the only possible motion of the body
Consider
- local coordinate frame
attaches to the rigid body
- global coordinate frame
Determine
- Transformation matrices for
point between two coordinates
Point of the body is fixed to the ground and is the origin of both
coordinate frames
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Robotics
2.03
Rotation Kinematics
2 = , 2
(2.1)
,
HCM City Univ. of Technology, Faculty of Mechanical Engineering
=
0
0
0
1
(2.3)
Robotics
2.04
Rotation Kinematics
= ,
(2.4)
= ,
(2.5)
0
=
0
1
0
0
(2.6)
(2.7)
Robotics
2.05
Rotation Kinematics
Robotics
2.06
Rotation Kinematics
The slab and the point in first, second, third, and fourth positions
Robotics
2.07
Rotation Kinematics
0.3 0 0.3
Any point of will move on a circle with radius = 2 + 2 parallel
to (, )-plane
0.3 + 0.3
0.3 0 0.3
=
=
0
1
0
0.3 0 0.3
0.3 0.3
2 + 2 = (0.3 + 0.3)2 +(0.3 0.3)2
= 2 + 2 = 2
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Robotics
2.08
Rotation Kinematics
,
0.3 0.3
= 0.3
0
0.3 0.3
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Robotics
2.09
Rotation Kinematics
1
= ,60
2
2
60
2 = 60
2
0
60
60
0
0
0
1
4
4.5981
3 = 1.9641
2
2.0
Phung Tri Cong
Robotics
2.10
Rotation Kinematics
(2.35)
= 3 2 1
(2.36)
(2.37)
Robotics
2.11
Rotation Kinematics
= , , ,
1
= 0
0
= +
(2.38)
0
1
0
0
0
0
1
Robotics
2.12
Rotation Kinematics
1750
0.97
The rotation matrix to find the new position of
the end point : rotate 290 about -axis, then
300 about -axis, and 1320 about -axis is
0.87 0.44 0.24
=
(2.40)
Robotics
2.13
Rotation Kinematics
, , ,
, , ,
, , ,
, , ,
, , ,
, , ,
, , ,
, , ,
, , ,
Robotics
2.14
Rotation Kinematics
0.15
0.52 2 = 1.02
2 = ,30 ,45 = 0.84
1.86
0.13 0.99 0.081 3
These two final positions of are = 1 2 = 4.456 apart
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Robotics
2.15
Rotation Kinematics
Robotics
2.16
Rotation Kinematics
= , , ,
+
+
+
+
(2.55)
Robotics
2.17
Rotation Kinematics
32
33
21
11
Robotics
2.18
Rotation Kinematics
1
2
3
=
=
+
+
14
14
14
= + = +
1/ 14
2/ 14 = 0 = 26.560
0
3/ 14
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Robotics
2.19
Rotation Kinematics
1/ 14 0.894
= 2/ 14 0.447
3/ 14
0
0.358
0.717
0.597
32
0
1
=
=0
33
0.597
31 =
3
14
0.93 rad
21
2/ 14
1
=
1.1071 rad
11
1/ 14
Robotics
2.20
Rotation Kinematics
2
,
2
The vector 2 = 2 2 2 and
0
HCM City Univ. of Technology, Faculty of Mechanical Engineering
=
0
0
0
1
Robotics
2.21
Rotation Kinematics
= 0
1
= 0
0
0
1
0
0
Robotics
2.22
Rotation Kinematics
60 60 0 4
4.60
= 60 60 0 3 = 1.97
0
0
1 2
2.0
Robotics
2.23
Rotation Kinematics
60
= 60
60 0
60 0
0
1
4
0.60
3 = 4.96
2
2.0
Robotics
2.24
Rotation Kinematics
9.5
10.1
10.1
= ,90 ,90
1
= 1
,90 ,90
10.1
= ,90 ,90 = 10.1
9.5
Robotics
2.25
Rotation Kinematics
where
= 3 2 1
Robotics
2.26
Rotation Kinematics
0.63
0.65
0.43
0.63
0.65
0.43 5
18.35
= 0.43
0.75
0.50 30 = 25.35
Robotics
2.27
Rotation Kinematics
= , , ,
=
+
(2.97)
Robotics
2.28
Rotation Kinematics
5 , , ,
9 , , ,
2 , , ,
6 , , ,
10 , , ,
3 , , ,
7 , , ,
11 , , ,
4 , , ,
8 , , ,
12 , , ,
Robotics
2.29
Rotation Kinematics
Robotics
2.30
Rotation Kinematics
= ,
=
0
0
0
1
Robotics
2.31
Rotation Kinematics
= ,
1
0
= 0
0
Robotics
2.32
Rotation Kinematics
= , = 0
0
0
1
By the rule of composition of rotation, the
transformation from () to () is
= , , ,
+
+
Robotics
2.33
Rotation Kinematics
Robotics
2.34
Rotation Kinematics
13
0.43
1
=
= 40.70
23
0.50
Robotics
2.35
Rotation Kinematics
0.127
0.78
0.612
0.992 0.0633 0.109
= 0.927 0.127 0.354
= 0.103
0.907
0.408
0.354 0.612
0.707
0.0734 0.416
0.906
The relative rotation matrix to map 2 to 1 may be found by
1
2
0.992
0.103 0.0734
= 0.0633 0.907 0.416
0.109 0.408 0.906
Robotics
2.36
Rotation Kinematics
= , , , =
Robotics
2.37
Rotation Kinematics
= + +
= + +
1
=
, , 0 =
0
Robotics
2.38
Rotation Kinematics
0
=
, 1 =
0
0
The yaw unit vector = 0 0 1 is already along the local -axis
Hence, can be expressed in body frame as
0
= 0
0
1
And therefore, in global frame is
1
0
= 0
0
Robotics
2.39
Rotation Kinematics
= 1
= 1
where
= 1 1 1 1
1
2
3
= 1 1 1 1
1
2
3
Also, pre-multiplication of the global rotation matrix is equal to postmultiplication of the local rotation matrix
Robotics
2.40
Rotation Kinematics
, = 0 = 30 30
0
0
0
0
1
2 3 . If
0
0
1
, by the local position vector
30 30 0
=
, = 1 2 3 30 30 0
0
0
1
= 0.13 2.23 3.0
Robotics
2.41
Rotation Kinematics
Instead of pre-multiplication of 1
by
,
1
,
30 30
= 30 30
0
0
0 1
0.13
0 2 = 2.23
1 3
3
Robotics
2.42
Rotation Kinematics
where
= 1
and
= 1
=
Robotics
2.43
Rotation Kinematics
60
0.766
0
0.5
=
HCM City Univ. of Technology, Faculty of Mechanical Engineering
0.643
Robotics
2.44
Rotation Kinematics
0
0
1
= 0.557
0.5
0.663
0.322 0.866 0.383
Then we can find the components of
0.766
0
0.643 100
173.05
= =
0.557
0.5
0.663 50 = 68.75
Robotics
2.45
Rotation Kinematics
= 100 50 + 150
= =
0.766 0.557 0.322 100
0.45
=
0
0.5
0.866 50 = 104.9
0.643 0.663 0.383 150
154.9
Robotics
2.46
Rotation Kinematics
=
1.365
1
2 = 2.239
2.666
0.959
The origin of the body () is fixed on the origin of (), and
the points 1 and 2 are lying on the local -axis and -axis respectively.
To find , we use the local unit vectors and
0.338
= 0.429
0.838
0.191
= 0.902
0.387
Robotics
2.47
Rotation Kinematics
= = 0.029
0.387
Hence, the transformation matrix using the coordinates of two points
and would be
1
2
=
0.338 0.191 0.922
= 0.429 0.902 0.029
0.838 0.387 0.387
Robotics
2.48
Rotation Kinematics
Robotics
2.49
Rotation Kinematics
,90
1
0
= 0 2
0
2
1
1
2 = 1
1
2
Robotics
2.50
Rotation Kinematics
= ,90
1
0
=
2
0
2
1
1
2 = 1
1
2