机器人运动学中的四元数矩阵和基变换矩阵

QUATERNION MATRIX AND BASIS TRANSFORMATION MATRIX IN ROBOT KINEMATCS

  • 摘要: 本文提出了用四元数矩阵描述机器人杆件空间方位的办法,进而给出了机器人位置的四元数矩阵和基变换矩阵方程,利用这两种矩阵完成任意自由度机器人的位置和姿态计算.本文提出的办法是用极少(一般为一次、最多为2次)的基变换取代全部大量的坐标变换.计算过程明显简化.

     

    Abstract: This paper uses quaternion matrix for spatial orientation of robot link.The equations of quaternion matrixand basis transformation matrix are given to calculate position and posture of robot with any freedomdeyrees.The method presented in this paper uses basis transformations as fewer times as possible(in a gen-eral wayone time,at most-two times)to substitute the coordinate transfomations.Calculating process is sim-plified obviously.

     

/

返回文章
返回