机器人技术基础
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机器人操作臂的速度与静力分析
一、速度雅可比的求导法机器人是一个多输入多输出的运动系统,为了更好地控制机器人的运动,必须精确求解机器人操作空间与关节空间之间的速度关系。雅可比矩阵定义为:关节空间速度向末端操作空间速度传递的映射矩阵,可以通过下式来认识雅克比矩阵。求解速度雅克比矩阵的方法有:位置求导法:运动方程直接求导矢量积法:矢量方法求解,表达形式简单微分变换法:相对动坐标系的微分运动速度递推法:从基座递推各连杆线速度与角速度位置求导法机器人的m维操作空间X与n维关节空间q之间的位移关系为原创 2022-01-03 21:44:20 · 5896 阅读 · 0 评论 -
机器人操作臂正向运动学
一、机器人的连杆参数与关节变量二·、正向运动学方程求解原创 2022-01-02 14:44:39 · 4241 阅读 · 0 评论 -
位姿描述和齐次变换
一、刚体位姿描述二、坐标变换三、齐次变换四、齐次变换矩阵的运算五、固定角和欧拉角六、旋转变换通式原创 2022-01-02 14:42:00 · 6439 阅读 · 3 评论 -
Introduction to Robotics : Mechanics and Control (Chapter 4)
4.1 Sketch the fingertip workspace of the three-link manipulator of Chapter 3, Exercise 3.3 for the case4.10 Give an expression for the subspace of the manipulator of Chapter 3, Example 3.4.The subspace is a function of three independent variabl...原创 2021-10-10 11:03:51 · 843 阅读 · 0 评论 -
Introduction to Robotics :Mechanics and Control (Chapter 3)
3.2 Imagine an arm like the PUMA 560, except that joint 3 is replaced with a pris-matic joint. Assume the prismatic joint slides along the direction ofin Fig.3.18;however, there is still an offset equivalent to to be accounted for. Make any additional a...原创 2021-09-26 03:03:28 · 1167 阅读 · 0 评论 -
Introduction to Robotics: Mechanics and Control (Chapter 2)
2.1 A vectoris rotated aboutby degrees and is subsequently rotated aboutbydegrees. Give the rotation matrix that accomplishes there rotations in the given order.2.3 A frame {B} is located initially coincident with a frame {A}. We rotate {B} ab...原创 2021-09-26 02:58:56 · 621 阅读 · 4 评论