11KinematicsRobot

11KinematicsRobot - ROBOT KINEMATICS Vclav Hlav a ac Czech...

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1/21 ROBOT KINEMATICS aclav Hlav´ c Czech Technical University, Faculty of Electrical Engineering Department of Cybernetics, Center for Machine Perception 121 35 Praha 2, Karlovo n´ am. 13, Czech Republic hlavac@fel.cvut.cz, http://cmp.felk.cvut.cz LECTURE PLAN 1. Kinematics, what is? 2. Open, closed kinematic mechanisms. 3. Sequence of joint transformations (matrix multiplications) 4. Direct vs. inverse kinematic task.
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2/21 KINEMATICS ± KINEMATICS – the analytical study of the geometry of motion of a mechanism: with respect to a fixed reference co-ordinate system, without regard to the forces or moments that cause the motion. In order to control and programme a robot we must have knowledge of both its spatial arrangement and a means of reference to the environment.
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3/21 OPEN CHAIN MANIPULATOR KINEMATICS ± Mechanics of a manipulator can be represented as a kinematic chain of rigid bodies (links) connected by revolute or prismatic joints.
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11KinematicsRobot - ROBOT KINEMATICS Vclav Hlav a ac Czech...

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