仿人机器人 第二章 运动学 2.1坐标变换 读书笔记

Blog链接：http://blog.reyoung.tk/index.php/2011/09/26/%E4%BB%BF%E4%BA%BA%E6%9C%BA%E5%99%A8%E4%BA%BA-%E7%AC%AC%E4%BA%8C%E7%AB%A0-%E8%BF%90%E5%8A%A8%E5%AD%A6-2-1%E5%9D%90%E6%A0%87%E5%8F%98%E6%8D%A2/

2.1.1 世界坐标系

世界坐标系是以此为参考基准，描述机器人所在位置的坐标系。

仅仅是个参考基准，没有硬性规定什么为世界坐标系。

Robocup世界坐标系原点选择方式:（想法）

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margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-46" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">于</span></span></span><span class="texatom" id="MathJax-Span-47" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-48" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-49" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">把</span></span></span><span class="texatom" id="MathJax-Span-50" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-51" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-52" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">躯</span></span></span><span class="texatom" id="MathJax-Span-53" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-54" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-55" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">干</span></span></span><span class="texatom" id="MathJax-Span-56" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-57" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-58" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">悬</span></span></span><span class="texatom" id="MathJax-Span-59" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-60" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-61" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">空</span></span></span><span class="texatom" id="MathJax-Span-62" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-63" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-64" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">一</span></span></span><span class="texatom" id="MathJax-Span-65" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mrow" id="MathJax-Span-66" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS"><span class="mo" id="MathJax-Span-67" style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:STIXGeneral,'Arial Unicode MS',serif">样</span></span></span></span><span style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0px; border-style:initial; border-color:initial; font-size:16px; vertical-align:0px; display:inline-block; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS; width:0px; height:2.108em"></span></span></span><span style="margin-top:0px; margin-right:0px; margin-bottom:0px; margin-left:0px; padding-top:0px; padding-right:0px; padding-bottom:0px; padding-left:0px; border-top-width:0px; border-right-width:0px; border-bottom-width:0px; border-left-width:0em; border-style:initial; border-color:initial; font-size:13px; vertical-align:-0.25em; display:inline-block; position:static; border-style:initial; border-color:initial; line-height:normal; text-decoration:none; font-family:MathJax_Main,MathJax_Size1,MathJax_AMS; border-left-style:solid; border-left-color:initial; overflow-x:hidden; overflow-y:hidden; width:0px; height:1.25em"></span></span></nobr>。

2、与球场中心点一致 由于定位噪声 容易造成不稳定

2.1.2 局部坐标系与齐次变换

两个坐标系，sigma W，sigma A，其中W为固定坐标系，A为动坐标系，可以看出Ph=Pa+r或Ph=Pa+r'，其中r‘为r旋转后获得，即

r'= Rar 其中Ra为旋转矩阵，即齐次变换矩阵的左上部分

因为:

Ph = Pa + Ra^aPh

所以

T = [ R ^aPh ]

[ 000 1 ]

2.1.3 局部坐标系之间的相对性

定坐标系可以是外层的动坐标系，这样一直传递出去

2.1.4 齐次变换的链乘法则

T_{n =}T₁¹T₂.........^n-1T_n

其中,^xT_y表示定坐标系X中动坐标系Y的齐次变换矩阵

若在连杆末端添加关节，则应将其矩阵置右相乘。