Presentation robotic systems

Computers and Automation Engineering – “Robotic Systems”




Robotic Systems
Spatial descriptions and
transformations

,Description of position and orientation
 describe the position of the manipulator by giving a description of:
o The tool frame, which is attached to the end-effector, Relative to:
o The base frame, which is attached to the nonmoving base of the
manipulator.
P
X
Tool fram
 Manipulator’s objects are described by just two attributes: Z
1) Position (𝑃𝑥 , 𝑃𝑦 , 𝑃𝑧 )
Y
2) Orientation (𝑅𝑥 , 𝑅𝑦 , 𝑅𝑧 ) Base

Z X
Base frame


Robotic 20-21 / Dr. Aghiad Kh. (email: )

,𝐴 𝐹𝑟𝑎𝑚𝑒: *𝐵+
𝐵𝑇 ∶ {B} relative to {A} 𝑍𝐵
𝑃
𝐹𝑟𝑎𝑚𝑒: *𝐴+
𝑍𝐴 B
P 𝑋𝐵
A
P BORG
A
BORG 

𝑌𝐵
AORG
𝑋𝐴
𝑌𝐴


Robotic 20-21 / Dr. Aghiad Kh. (email: )

, Description of a position
𝑍𝐵 *𝐵+
Translation
𝑃
{B} relative to {A} 𝑍𝐴 B
P
*𝐴+
A


 p x   p x   BORG x 
P BORG
A B A
BORG

 A  B  A 
A
PB   Py    Py    BORG y  𝑌𝐵
 A Pz   B Pz   A BORG  
AORG

𝑋𝐴
     z
𝑌𝐴
𝑃𝑥
𝐴𝑃 = 𝑃
𝑦
𝑃𝑧

Robotic 20-21 / Dr. Aghiad Kh. (email: )