lecture 14 review of rigid body motions and forward...
Transcript of lecture 14 review of rigid body motions and forward...
lecture 14review of rigid body motions
and forward kinematicsKatie DC
Oct. 17, 2019
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• Upcoming due dates• HW7 is 10/18
• Reflection 2 is 10/20 at midnight
• Project update 3 is 10/20 at midnight
• Quiz 2 is 10/20 to 10/22
• (optional) mid-semester self-assessment for participation is 10/25
• Mid-Semester Feedback (for course staff)
Leonardo Da Vinci’s Robot• Leonardo's robot, or Leonardo's mechanical knight, was a
humanoid automaton designed and possibly constructed by Leonardo da Vinci around 1495
• The robot knight could stand, sit, raise its visor and independently maneuver its arms, and had an anatomically correct jaw, all operated by a series of pulleys and cables
• The robot has been built faithfully based on Leonardo's design, and was found to be fully functional
• Question: is this a robot?
Rigid Body Motion
Homogeneous Transforms (1)
Homogeneous Transforms (2)
Coordinate Transformation (1)
Homogeneous Transforms (2)
Homogeneous Transforms (3)
Screws (1)
Screws (2)
Forward Kinematics (1)
Joint 1 Joint 2 Joint 3,4
In this example, {b} is placed at the tip of the end-effector, translated and rotated from the prismatic joint. The translation (linear relative motion) effects the –z unit axis of {b}.That means that as we move the prismatic joint, the motion of {b} is in the zs direction or –zb direction.
Forward Kinematics (2)