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    ENR506: Robotics: Session 11: Position & Rotation Representation

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    Ashavi Shah
    This document discusses position and rotation representation for robotics. It contains examples of representing the position of points and vectors using different reference frames. It also contains examples of representing rotation in 2D using rotation matrices for rotation about the Z-axis. There are exercises provided to calculate rotation matrices for different rotation angles and to find positions, velocities, and Jacobians for robotic arm examples. Key concepts covered include coordinate frames, position vectors, rotation matrices, and forward and inverse kinematics.

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    ENR506: Robotics: Session 11: Position & Rotation Representation

    Uploaded by

    Ashavi Shah
    20 views4 pages
    This document discusses position and rotation representation for robotics. It contains examples of representing the position of points and vectors using different reference frames. It also contains examples of representing rotation in 2D using rotation matrices for rotation about the Z-axis. There are exercises provided to calculate rotation matrices for different rotation angles and to find positions, velocities, and Jacobians for robotic arm examples. Key concepts covered include coordinate frames, position vectors, rotation matrices, and forward and inverse kinematics.

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    This document discusses position and rotation representation for robotics. It contains examples of representing the position of points and vectors using different reference frames. It also contains examples of representing rotation in 2D using rotation matrices for rotation about the Z-axis. There are exercises provided to calculate rotation matrices for different rotation angles and to find positions, velocities, and Jacobians for robotic arm examples. Key concepts covered include coordinate frames, position vectors, rotation matrices, and forward and inverse kinematics.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    20 views4 pages

    ENR506: Robotics: Session 11: Position & Rotation Representation

    Uploaded by

    Ashavi Shah
    This document discusses position and rotation representation for robotics. It contains examples of representing the position of points and vectors using different reference frames. It also contains examples of representing rotation in 2D using rotation matrices for rotation about the Z-axis. There are exercises provided to calculate rotation matrices for different rotation angles and to find positions, velocities, and Jacobians for robotic arm examples. Key concepts covered include coordinate frames, position vectors, rotation matrices, and forward and inverse kinematics.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    Ahmedabad University

    Exercise 1 (Solve in class)


    Suppose that the tip of a single link travels a distance d between two points.
    • A linear axis would travel the distance d
    ENR506: Robotics • While a rotational link would travel through an arc length 𝒍𝜽 as shown.

    Session 11: Position &


    Rotation Representation
    - Dr. Keyur Dineshchandra Joshi
    1. Using the law of cosines, calculate the distance formula, which is less
    than 𝑙𝜃.
    2. With 10-bit accuracy, and the length = 1 meter, and 𝜽 = 90 degrees,
    what is the resolution of the a) linear link?, and b) rotational link?

    Exercise 2 (Solve in class) Exercise 3 (Solve in class)

    Refer the single-link revolute arm shown above.


    Refer the single-link revolute arm shown above. The length of the link is 50 cm and the arm travels 180 degrees.
    If the length of the link is 50 cm and Assuming that the 8-bit encoder is located on the motor shaft that is connected to
    the arm travels 180 degrees, the link through a 50:1 gear reduction. (Assume perfect gears)
    What is the control resolution obtained with an 8/10/12-bit encoder? What is the controller resolution obtained for a) linear, & b) rotational link?
    What is the implication of the results? Compare the two and write advantage/disadvantage of either links.

    Exercise 4 (Solve in class) Exercise 4 Solution (b)


    Refer Previous class notes.
    Refer the two-link revolute arm shown on right.
    The length of both links = 1 m.
    (a) Find the coordinates of the tool when first
    angle is Pi/6 and the second angle is Pi/2.
    (b) Find the angles if tool is at (0.5, 0.5) location.
    (c) If the joint velocities are constant as 1 and 2
    for first and second angle respectively,
    What is the velocity of the tool?
    (d) Find the Jacobian for this.

    Keyur D. Joshi 1
    Ahmedabad University

    Class (or Homework) Work Position Representation


    Link of a manipulator = Rigid body

    (e) Write a computer program to plot the To represent position (& orientation), we need to establish various coordinate frames
    joint angles as a function of time given the
    tool locations and velocities as a function of
    time in Cartesian coordinates.
    (f) Suppose we desire that the tool follow a
    straight line between the points (0, 2) and
    (2, 0) at constant speed s. Plot the time
    history of joint angles.

    Position Representation Position Representation

    A point corresponds to a specific


    location in space, while a vector
    specifies a direction and magnitude

    P is not a point equivalent to the vector v1, the displacement from


    the origin to the point P is given by the vector v1.

    v1 and v2, are geometric entities (free vectors) that are


    invariant with respect to the choice of the coordinate frames

    Position Representation Position Representation


    To perform algebraic manipulations using coordinates, it is essential that all
    The representations by coordinates of v1 coordinate vectors be defined with respect to the same coordinate frame
    and v2 vectors directly depends on the
    choice of reference coordinate frame

    Superscript = reference frame

    O01 specifies the coordinates of the point O1 relative to frame 0


    O10 specifies the coordinates of the point O0 relative to frame 1.

    Frame representation: {}

    Keyur D. Joshi 2
    Ahmedabad University

    Rotation Representation (in 2D) Rotation Representation

    ----------Rotation about Z0 axis ---------- ----------Rotation about Z0 axis ----------

    Rotation Representation Rotation Representation

    ----------Rotation about Z0 axis ---------- ----------Rotation about Z0 axis ----------

    Rotation Representation Rotation Representation

    ----------Rotation about Z0 axis ----------

    Keyur D. Joshi 3
    Ahmedabad University

    Right Hand Coordinate Frame/s Rotation Representation (in 2D)

    Rotation Representation (in 2D) Rotation Representation (in 2D)

    Exercise 1

    Thank You !
    Find Rotation matrix if a 2D frame {1} is rotated by
    (a) 36 degrees, and
    (b) −54 degrees.

    Query?

    Keyur D. Joshi 4

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