University:
Concordia University
Course:
ENGR 6411 | Robotic Manipulators I: Mechanics
Academic year:

2022
Views:

481

Pages:

2
Author:

Afnan M

1Chapter 2SPATIAL DESCRIPTIONS ANDTRANSFORMATIONS1. INTRODUCTION:Objective:To study the representation of position and orientation of a 3-Dobject.Key Concept:Homogeneous TransformationsUNIVERSE COORDINATE SYSTEM:a coordinate system to which everything we use can be referenced.2. DESCRIPTIONS:Positions, Orientations and frames 2I. Location of a position: (Position vector)Given a 3-D Cartesian coordinate system {A}. any position in thespace can be characterized by a position vector:Position3-Dimensional vectorP,PA P=PyP2ZAPPoPx YAPxXWhere,Px = The position of ^P onto X A axisPy = The position of ^P onto YA axisP2 = The position of ^P onto ZA axis