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机器人关节在坐标中的数学描述
yangming2466
机器人关节P的齐次坐标:
P =
[nx ox ax px]
[ny oy ay py]
[nz oz az pz]
[ 0 0 0 1 ]
P为4X4矩阵;
n,o,a为该点的正交单位方向向量坐标,即:
nx^2+ny^2+nz^2 = 1;
ox^2+oy^2+oz^2 = 1;
ax^2+ay^2+az^2 = 1;
(单位向量性质)
(nx,ny,nz)(ox,oy,oz) = 0;
(ax,ay,az)(ox,oy,oz) = 0;
(nx,ny,nz)(ax,ay,az) = 0;
(正交向量性质)
MATLAB中直观表示:
需要的基础知识:
1线性代数
2matlab绘图操作
绘图代码:
https://download.csdn.net/download/yangming2466/10291760