Forward Kinematics
degree of freedom
universal join 万向节
grubler’s criterion
where,
F
is number of DOF,
j
is number of joints ,
fi
is number of DOF permitted by joint
ji
.
对于万向节而言, n为3, j 为2,
λ
为6,
j1
为 1,
j2
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
ai is distance between zi−1 and zi along xi−1 .
αi is angle from zi−1 to zi along xi−1 .
di is distance between plane xi−1yi−1 to plane xiyi along zi−1
θ is angle about previous zi−1 , from xi−1tonew x_{i}$.
xi 始终垂直并与 zi 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