[robot]Forward-Kinematics

Forward Kinematics

degree of freedom

universal join 万向节

grubler’s criterion

$$F = \lambda (n-j-1) + \sum _{i=1}^{j} f_{i}$$

where, $F$ is number of DOF,
$n$ is number of links,
$j$ is number of joints ,
$\lambda$ is number of DOF in the space.
$f_{i}$ is number of DOF permitted by joint $j_{i}$.

对于万向节而言， n为3， j 为2， $\lambda$ 为6，
$j_{1}$ 为 1， $j_{2}$ 为1
所以万向节的自由度为2.

constrain formulation

exercise

Forward Kinematics and DH

Forward Kinematics is used to find the position of end effect.

DH Parameters

DH relies mainly on the X and Z frames

$a_{i}$ is distance between $z_{i-1}$ and $z_{i}$ along $x_{i-1}$.

$\alpha_{i}$ is angle from $z_{i-1}$ to $z_{i}$ along $x_{i-1}$.

$d_{i}$ is distance between plane$x_{i-1} y_{i-1}$ to plane $x_{i} y_{i}$ along $z_{i-1}$

$\theta$ is angle about previous $z_{i-1}$, from $x_{i-1} to new$ x_{i}$.

$x_{i}$ 始终垂直并与$z_{i}$相交.

DH 参数只由x，z轴确定。

exercise

function A = compute_dh_matrix(a, alpha, d, theta)


ctheta = cos(theta);
stheta = sin(theta);
salpha = sin(alpha);
calpha = cos(alpha);
A = [ctheta, -stheta*calpha, stheta*salpha, a*ctheta;
    stheta, ctheta*calpha, -ctheta*salpha, a*stheta;
    0,salpha, calpha,d;
    0,0,0,1];
end