Lecture 4
agenda
What do we know for now?
Can we do it with displacement vectors?
Homogenous transformation Matrix
Denavit-Hartenberg method
Step 1: Assign frames according to the 4 DH rules
Notes:
Symbol Terminologies :
1.21M
Категория: МатематикаМатематика
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IRob2305: Introduction to Robotics

1. Lecture 4

LECTURE 4
IRob2305: Introduction to Robotics

2. agenda

AGENDA
• Homogenous Transformation Matrix
• Link Connections
• Denavit-Hartneberg Parameters
• DH-Parameters

3. What do we know for now?

WHAT DO WE KNOW FOR NOW?
• We can make a complete rotation matrix all the way from base to the endeffector frame by multiplying together each of the individual rotation matrices
from one frame to the next frame:

4. Can we do it with displacement vectors?

CAN WE DO IT WITH DISPLACEMENT
VECTORS?
•
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