Contents
What is the orientation of a robot?
In Cartesian space, a robot orientation is decided by a combination of rotations in X, Y, and Z direction, and we can have a 3-by-3 rotation matrix for each orientation.
What are Euler angles in robotics?
The most common method for describing robot orientations are Euler Angles. Euler Angles consists of three numbers which each describe a rotation around one axis. There are different Euler Angle conventions depending on the order of rotations.
What is base frame in robotics?
The base frame is located near the base of the robot and is not adjustable. When comparing to the street address example, the base frame can be thought of as the Earth or a country. This base frame is the fundamental starting point for our robot system.
What is the minimum number of numbers needed to represent the orientation of a spatial rigid body?
six numbers
In the previous chapter, we saw that a minimum of six numbers are needed to specify the position and orientation of a rigid body in three-dimensional physical space.
What is orientation of a body?
In general the position and orientation in space of a rigid body are defined as the position and orientation, relative to the main reference frame, of another reference frame, which is fixed relative to the body, and hence translates and rotates with it (the body’s local reference frame, or local coordinate system).
How is the orientation of a robot determined?
A rotation is represented in a matrix. In Cartesian space, a robot orientation is decided by a combination of rotations in X, Y, and Z direction, and we can have a 3-by-3 rotation matrix for each orientation. In Universal Robots, the axis-angle representation is used for robot orientation.
What kind of motion does a robot have?
A robotic joint provides relative motion between two links of a robot. Each joint, or axes, provides a certain degree of freedom (dof) of motion. In most cases only one degree of freedom is associated with each joint. So a robot ś complexity can be classified according to the total number of degree of freedom they possess.
How are waypoints represented in Universal Robots programming?
Remember waypoints have both position and orientation stored in the 6 dimensional pose, p [0,0,0,0,0,0] where a pose in Universal Robots programming is represented as p [x,y,z,rx,ry,rz].
Which is an advantage of a 6 axis robotic arm?
A robot has position and orientation. In particular, one of advantages in 6-axis robotic arm is to pose diverse orientation. This article is written for better understanding of robot orientation. A rotation is represented in a matrix.