Advanced Robotics - CMPcmp.felk.cvut.cz/cmp/courses/PRO/2010/Lecture/PRO-2010-Lecture-04... · 59...
Transcript of Advanced Robotics - CMPcmp.felk.cvut.cz/cmp/courses/PRO/2010/Lecture/PRO-2010-Lecture-04... · 59...
-
56
Advanced Robotics
Lecture 4
-
57
-
58
-
59
R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
-
60
R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
-
61
R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
-
62
-
63
R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
-
64
R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
-
65
-
66
Transformation in a joint is described by 4 parameters
-
67
-
68
-
69
-
70
-
71
-
72
-
73
-
74
-
75
-
76
-
77
-
78
-
79
-
80
-
81
-
82
-
83
-
84
-
85
-
86
-
87
-
88
-
89
-
90
Transformation in a joint is described by 4 parameters
-
91
-
92
RV-6S/6SC
-
93
-
94
-
95
-
96
-
97
-
98
-
99
-
100
MATLAB simulation in ROBOT toolbox:
mRV6S =
RV-6S (6 axis, RRRRRR) [Mitsubishi] grav = [0.00 0.00 9.81]
alpha_i a_i theta_i d_i R/P standard D&H parameters-1.570796 85.000 parameter 350.000 R (std)0.000000 280.000 parameter 0.000 R (std)-1.570796 100.000 parameter 0.000 R (std)1.570796 0.000 parameter 315.000 R (std)-1.570796 0.000 parameter 0.000 R (std)0.000000 0.000 parameter 85.000 R (std)
-
101
Joint (osa)
Link (rameno)Rotation axis
2 joints with intersecting rotation axes
-
102
3D View
Top view (nrys)
Side view (bokorys)
Joint (osa)