lecture 14 review of rigid body motions and forward...

lecture 14review of rigid body motions

and forward kinematicsKatie DC

Oct. 17, 2019

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• Upcoming due dates• HW7 is 10/18

• Reflection 2 is 10/20 at midnight

• Project update 3 is 10/20 at midnight

• Quiz 2 is 10/20 to 10/22

• (optional) mid-semester self-assessment for participation is 10/25

• Mid-Semester Feedback (for course staff)

Leonardo Da Vinci’s Robot• Leonardo's robot, or Leonardo's mechanical knight, was a

humanoid automaton designed and possibly constructed by Leonardo da Vinci around 1495

• The robot knight could stand, sit, raise its visor and independently maneuver its arms, and had an anatomically correct jaw, all operated by a series of pulleys and cables

• The robot has been built faithfully based on Leonardo's design, and was found to be fully functional

• Question: is this a robot?

Rigid Body Motion

Homogeneous Transforms (1)

Homogeneous Transforms (2)

Coordinate Transformation (1)

Homogeneous Transforms (2)

Homogeneous Transforms (3)

Screws (1)

Screws (2)

Forward Kinematics (1)

Joint 1 Joint 2 Joint 3,4

In this example, {b} is placed at the tip of the end-effector, translated and rotated from the prismatic joint. The translation (linear relative motion) effects the –z unit axis of {b}.That means that as we move the prismatic joint, the motion of {b} is in the zs direction or –zb direction.

Forward Kinematics (2)