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lecture 14review of rigid body motions
and forward kinematicsKatie DC
Oct. 17, 2019
Admin
• 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)