文档介绍：INTRODUCTIONINTRODUCTION
TheThe SchoolSchoolTOTOJiangnanJiangnan ofofROBOTICSROBOTICS MechanicalMechanical EngineeringEngineering
MechatronicsMechatronics
UniversityUniversity
((机械电子机械电子LiLi TingTing)) ResearchResearch GroupGroup
((李挺)李挺)
LiLi TingTing’ss ResearchResearch andand TeachingTeaching WebWeb ://liting.
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2009-2-20 机电研究室-李挺(http:// liting.) 1
机器人概论第一章机器人系统概述
第一章第一章
机器人系统概述机器人系统概述
<<第第11部分部分>>
((20042004版本)版本)
2009-2-20 机电研究室-李挺(http:// liting.) 2
机器人概论第一章机器人系统概述
ChapterChapter 11
SummarySummary
((PartPart 11
))
2009-2-20 机电研究室-李挺(http:// liting.) 3
机器人概论第一章机器人系统概述
TheThe missionmission ofof
developdevelop roboticsrobotics
ExtendsExtends thethe humanhuman beingsbeings’’
abilityability inin intelligent,intelligent, sense,sense,
operationoperation andand .
延伸人类在智力、感觉、延伸人类在智力、感觉、
操作及运动方面的能力。操作及运动方面的能力。
2009-2-20 机电研究室-李挺(http:// liting.) 4
机器人概论第一章机器人系统概述
§§ TopicsTopics inin
thethe 'Robotics''Robotics' LessonLesson
< Topics 1> Description of Position and Orientation
We constantly concerned with the location of objects in three-
dimensional objects are the links of manipulator,the
parts and tools with which it deals,and other objects in the
manipulator's environment.
In order to describe the position and orientation of a body in
space we will always attach a coordinate system,or frame,rigidly
to the object.
2009-2-20 机电研究室-李挺(http:// liting.) 5
机器人概论第一章机器人系统概述
Since any frame can
serve as a referance
system within which to
express the position and
orientation of a body,we
often think of
transforming or changing
the description of these
attributes of a body from
one frame to another.
Coordinate system or “frames” are attached to the manipulator
and objects in the environment.
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机器人概论第一章机器人系统概述
<
<Topics 2>Forward Kinematics of Manipulators
Kinematic