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KIDUM
Zagadnienia:
Macierz przeksztacenia jednorodnego:
interpretacja elementw
Interpretacja zadanej orientacji w oparciu
o kosinusy kierunkowe lub kty RPY
Notacja Denavita-Hartenberga
Przykady modeli geometrycznych
KIDUM
Pooenie:
x, y, z
v
P
y
Orientacja:
, ,
v
P
y
u x
u
A= y
u z
vx
vy
vz
wx
wy
wz
xP
y P
zP
u x
R = u y
u z
KIDUM
vx
vy
vz
wx
w y
wz
) )
ix o iu
) )
)j y o i)u
k z o iu
) )
ix o jv
) )
j oj
)y )v
k z o jv
) )
ix o k w
) )
j ok
)y )w
k z o k w
R 1 = R T
4
1 0
R( x , ) = 0 C
0 S
KIDUM
S
C
0
0 0
C S
S C
Rot ( z, ) =
0
0
0
0
0
0
0
0 0
0 0
1 0
0 1
C
0
Rot ( y, ) =
S
0 S 0
1 0 0
0 C 0
0 0 1
1
0
Tra (a, b, c) = Tra ( x, a ) Tra ( y, b) Tra ( z , c) =
0
0 0 a
1 0 b
0 1 c
0 0 1
Przykad 1
z0
y1
O1 P =1P = [ 2,1,0]T
z1
O1
O0
y0
P
3
x0
?
?
A1 =
?
? ? 3
? ? 5
? ? 2
0 0 1
x1 = [0,0,1]T
x1
0 1
0 0
A1 =
1 0
0 0
0 3
1 5
0 2
0 1
y1 = [1,0,0]T
(
(
1
P = A1 P
2
5
=
0
1
0 1
0 0
1 0
0 0
0 3 2
1 5 1
0 2 0
0 1 1
O0 P = 0 P = [2,5,0]T
z1 = [0,1,0]T
KIDUM
(
P = [2,1,0,1]T
Orientacja: , ,
Kty: RPY
Kty Eulera
EU (, , ) = Rot ( z , ) Rot (v, ) Rot ( w, )
PRECESJI -
NUTACJI -
OBROTU WASNEGO -
(Fu)
KIDUM
(Fu)
OBROTU (Roll) -
POCHYLENIA (Pitch) -
SKRTU (Yaw) -
8
Ox
Ax
Oy
Oz
Ay
Az
Px
Py
Pz
CC
SC
RPY ( , , ) =
S
SC + CSS
CC + SSS
CS
SS + CSC
CS + SSC
CC
Wyjtki:
= arctg
Ny
Nz
= arctg
= arctg
Roll (z)
Nx
1 Nz
Oz
Az
KIDUM
= 90o
= 90o
sin ( ) = Ox
Pitch (y)
cos( ) = Oy
Yaw(x)
= arctg
Ox
Oy
sin ( + ) = Ox
cos( + ) = Oy
+ = arctg
Ox
Oy
0
0
0
Przykad 2
3
2
1
A1 =
2
0
1
2
3
2
0
0
0
150
90
60
120
90
150
90
180
90
-150
120
-60
-150
KIDUM
10
1
1
tg ( ) = 2 =
3 3
-90
0
=0
1 0
tg ( ) =
tg ( ) =
= 150
y
=0
x
1
=
0
= 90
= arctg
= arctg
= arctg
KIDUM
-150
Ny
Nx
u
y
Nz
1 Nz
Oz
Az
2
1
v
A1 =
2
0
1
2
3
2
0
0
0
1 11
12
KIDUM
13
14
T i = T i = A1 A 2 ... A i 1 A i
15
KIDUM
16
17
zi '
yi'
xi
yi
zi-1
ai
i
di
yi-1
xi-1
KIDUM
18
z0
z1
y0
Manipulator SCARA
RRPR
y1
x0
x1
x2
y2
z2
x4
y4
z4
x3
y3
z3
Czon Nr
1 v
a1
-120o120o
2 v
a2
0o150o
d3 v
0.1 m 0.3 m
4 v
-180o180o
KIDUM
Zakres ruchu
19
Ox
Ax
Oy
Ay
Oz
0
Az
0
Px
Py
Pz
C12 C4 + S12 S 4
S C C S
0
12 4
T 4 = 12 4
C12 S 4 + S12 C4
C12 C4 S12 S 4
0
0
a1C1 + a 2 C12
0 a1 S1 + a 2 S12
1
d 3
0
1
x = a1C1 + a2 C12
y = a1 S1 + a2 S12
z = d 3
= arctg
= arctg
= arctg
S12 C 4 C12 S 4
C12 C 4 + S12 S 4
Ny
= arctg
Nx
Nz
1 Nz
Oz
Az
KIDUM
sin ( 1 + 2 4 )
= arctg
= 1 + 2 4
(
)
+
cos
1
2
4
0
= 0o
1
0
= arctg = 180 o
1
= arctg
20
z5
y5
z2
z1
y1
x1
x5
y2
x2
Link
No.
1 v
d1
-90o
2 v
a2
3 v
a3
4 v
90o
5 v
d5
z4
z0
y4
y0
z3
x4
x0
x3
y3
Manipulator RRR RR
KIDUM
21
z1
y1
y3
z2
x1
z3
x2
y2
x3
y7
z0
z7
y0
x0
x7
z4
y4
x4
z6
z5
manipulator RRRRRR
(RRR+RPY)
KIDUM
d1
-90o
a2
3+90o v
90o
d4
-90o
90o
d7
y6
y5
x5
Link No.
x6
22
y2
x2
y3
z2
Nr czonu
d1 v
a2
d3
x3
z3
z1
x1
y1
z0
90o
x0
y0
1
0
T3 =
0
a2
0 1 d3
d1
1 0
0 0
1
0
23
z3
z1
x3
y1
Nr czonu
d1 v
a2
-90o
d3 v
y3
x1
z2
x2
y2
z0
y0
x0
C2
S
2
T3 =
0
S2
0
1
C2
0
a 2 C2 d 3 S 2
a 2 S 2 + d 3 C2
d1
24
z3
y3
x3
Nr czonu
1 v
d1
-90o
2 v
90o
d3 v
z2
y2
z1
x1
y1
z0
y0
x0
C1C2
S C
1 2
T3 =
S2
S1
C1
C1 S2
S1 S2
0
0
C2
0
d 3C1 S2
d 3 S1S2
d1 + d 3C2
25
Nr czonu
1 v
d1
-90o
2 v
a2
3 v
90o
z3
y3
z1
y1
x3
x1
z2
y2
x2
C1C23
S C
1 23
T3 =
S23
z0
y0
x0
S1
C1S23
C1
0
S1 S23
C23
a 2 C1C2
a 2 S1C2
d1 a 2 S 2
26
no = a
(Fu)
Wektory: n normalny (xe)
o orientacji (ye)
a zblienia (ze)
KIDUM
27
KIDUM
28
y5
z4
y4
z5
Nr czonu
4 v
d4
-90o
5 v
90o
6 v
d6
x5
x4
y6
z6
y3
x6
z3
x3
C4 C5 C6 S 4 S 6
S C C + C S
4 5 6
4 6
3
T6 =
S 5 C6
C4 C5 S 6 S 4 C6
C4 S 5
S 4 C5 S 6 + C4 C6
S 4 S5
S5 S 6
C5
d 6 C4 S 5
d 6 S 4 S5
d 4 + d 6 C5
29
30
z4
y4
y5
z5
x4
y6
Nr czonu
4 v
d4
-90o
5 v
90o
6 v
d7
x5
z6
x6
y3
y7
z3
x3
z7
x7
C4 C5
S C
3
T 6 = 4 5
S5
C4 S5 S 6 S 4 C6
C4 S5 C6 + S 4 S 6
S 4 S5 S 6 + C4 C6
C5 S 6
S 4 S5 C6 C4 S 6
C5 C6
d 7 (C4 S5 C6 + S 4 S 6 )
d 7 ( S 4 S5 C6 C4 S 6 )
d 4 + d 7 C5 C6
31
z6
x6
y6
z3
z5
z4
x3
x5
y3
Nr czonu
4 v
5 v
6 v
d6
x4
y5
y4
S 4 C5 S 6 + C4 C6
C C S +S C
4 5 6
4 6
3
T6 =
S5 S 6
S 4 C5 C6 C4 S 6
S 4 S5
C4 C5 C6 S 4 S 6
S 5 C6
C4 S 5
C5
d 6 S 4 S5
d 6 C4 S 5
d 6 C5
32
Zadana pozycja:
yd
xd
zr
P
z0
yr
Pd
N dx
N
0
T d = dy
N dz
xr
N rx
N
0
T r = ry
N rz
y0
Rnica pooenia:
P = P r P d
Rnica orientacji:
d
d
T 0
0
0
dr, dr, dr
Rr = R0 Rr = Rd Rr
KIDUM
Adx
Ody
Odz
Ady
Adz
Pdx
Pdy
Pdz
Osignita pozycja:
Pr
2 =
Odx
Orx
Arx
Ory
Orz
Ary
Arz
Prx
Pry
Prz
1 = dr + dr + dr
2
N d N r + Od Or + Ad Ar
KRIM, AGH w Krakowie
33