cs685-kinematics-1

cs685-kinematics-1 - Kinematics Kinematics Chains CS 685...

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1 Kinematics, Kinematics Chains CS 685 Previously Representation of rigid body motion Two different interpretations - as transformations between different coordinate frames - as operators acting on a rigid body Representation in terms of homogeneous coordinates Composition of rigid body motions Inverse of rigid body motion
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2 Rigid Body Transform {A} {B} The points from frame A to frame B are transformed by the inverse of (see example next slide) Translation only, is the origin of the frame B expressed in the Frame A Composite transformation: Transformation: Homogeneous coordinates Kinematic Chains In robotics – study of multiple rigid bodies lined together Kinematics – study of position, orientation, velocity, acceleration regardless of the forces Simple examples of kinematic model of robot manipulator and mobile robot Components – links, connected by joints
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3 Various joints Kinematic Chains Tool frame Base frame Given determine what is Given
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This note was uploaded on 04/07/2010 for the course CS 685 taught by Professor Luke,s during the Fall '08 term at George Mason.

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cs685-kinematics-1 - Kinematics Kinematics Chains CS 685...

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