機器人正運動學(xué)

1、第三章機器人正逆運動學(xué)東北大學(xué)機械電子工程研究所陸志國Video Segment(視頻賞析)Video SegmentWheel With DisturbanceVideo Segment10 cm Step With DisturbanceVideo Segment10 cm StairVideo Segment12 cm StairVideo Segment20 cm Stair能爬臺階的倒立擺輪式兩輪能爬臺階的倒立擺輪式兩輪車車Takeshi Takaki, Tadayoshi Aoyama, and Idaku Ishii: Development of Inverted Pendul

2、um Robot Capable of Climbing Stairs Using Planetary Wheel Mechanism, Proc. IEEE Int. Conf. on Robotics and Automation, pp.5598-5604, 2013.Video Segment-OverviewInverted Pendulum Robot Capable of Climbing StairsInverted Pendulum Robot Capable of Climbing StairsRobot Kinematics(機器人運動學(xué)) With respect to

3、 a fix origin O, the position of a point P is described by the vector OP or simply by pOpPPosition of a Point（點位置）PQOpqEuclidian SpacePOpxyzCartesian SpaceRigid Body Configuration（剛體配置）POpxyzxyzCoordinate Frame （坐標系）OBOAABPosition : APAPRigid Body Configuration（剛體配置）OAABRotation Matrix（旋轉(zhuǎn)矩陣）zyxzyxzy

4、xzABzABzAByAByAByABxABxABxABRotation Matrix（旋轉(zhuǎn)矩陣）Euler Angle to Rotation Matrix（歐拉角到旋轉(zhuǎn)矩陣變換）Rotation Matrix about X, Y, Z Axis（繞X,Y,Z軸的旋轉(zhuǎn)矩陣）繞軸軸不變，繞軸軸不變，自軸取余弦；自軸取余弦；余軸用余軸用Sin()，符號看象限。符號看象限。Rotation Matrix about X, Y, Z Axis（繞X,Y,Z軸的旋轉(zhuǎn)矩陣）繞軸軸不變，繞軸軸不變，繞哪個軸旋轉(zhuǎn)哪個軸在的自身坐標不變繞哪個軸旋轉(zhuǎn)哪個軸在的自身坐標不變自軸取余弦；自軸取余弦；（非旋轉(zhuǎn)軸）在

5、自身坐標軸上的投影取余弦（非旋轉(zhuǎn)軸）在自身坐標軸上的投影取余弦余軸用余軸用Sin()， （非旋轉(zhuǎn)軸）（非旋轉(zhuǎn)軸）在其余坐標軸在其余坐標軸上上的投影用正弦的投影用正弦符號看象限。符號看象限。余弦項符號余弦項符號看逆時針旋轉(zhuǎn)小角后落在哪個象限看逆時針旋轉(zhuǎn)小角后落在哪個象限繞軸軸不變，繞軸軸不變，自軸取余弦；自軸取余弦；余軸用余軸用Sin()， 符號看象限符號看象限旋轉(zhuǎn)軸旋轉(zhuǎn)軸XYZOAABOB100044434241343332312423222114131211ozyxozyxozyxzABzABzABzAByAByAByAByABxABxABxABxABrrrrrrrrrrrrrrrrTransmission Matrix（坐標變換矩陣）1ooozAByABxAB144434241343332312423222114131211zyxrrrrrrrrrrrrrrrrBBBHumanoid Robot, Multi-locomotion Robot (MLR)（仿人機器人