Manipulator Robot——(2) Pose Description and Coordinate Transformation

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Learn the basic principles of robots MOOC of the main school, study records.

1. Position and pose of rigid body

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Orthogonal coordinate system

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The nature of the orthogonal coordinate system

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The Geometric Meaning of Orthogonal Coordinate Transformation Matrix

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2. Coordinate system translation and rotation transformation

(1) Coordinate system translation

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(2) Coordinate system rotation

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Transformation matrix

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(3) Compound transformation

Compound transformation = translation + rotation
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3. Homogeneous coordinates of the robot

(1) Basic concepts and properties of homogeneous coordinates

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(2) Use homogeneous transformation matrix to represent translation transformation

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(3) Use homogeneous transformation matrix to represent rotation transformation

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(4) Use homogeneous transformation matrix to represent rotation + translation transformation

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(4) Use a homogeneous transformation matrix to represent the rotation and movement of the hand

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4. Homogeneous transformation of the robot

(1) The nature of homogeneous transformation

Nature 1:

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Nature 2:

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Create transformation equation

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Origin blog.csdn.net/qq_45779334/article/details/114809925
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