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5.机器人控制
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机械臂控制原理
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空间表示法和坐标变换
Equivalent Angle-Axis of Rotation
等效旋转轴
R
=
[
n
x
o
x
a
x
p
x
n
y
o
y
a
y
p
y
n
z
o
z
a
z
p
z
0
0
0
1
]
R = \left [ \begin{array}{} n_x & o_x & a_x & p_x \\ n_y & o_y & a_y & p_y \\ n_z & o_z & a_z & p_z \\ 0 & 0 & 0 & 1 \\ \end{array} \right ]
R
=
n
x
n
y
n
z
0
o
x
o
y
o
z
0
a
x
a
y
a
z
0
p
x
p
y
p
z
1
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Transformation
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Three Angle Rotation: Euler angles, RPY angles
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Last updated
2 months ago
