Module 6 Robotics

1
Robotics and Machine Vision
Module 6 - Robotics
Dr Cheng Chang Dong
Email eleccd_at_singnet.com.sg
http//vlab.ee.nus.edu.sg/ccd/teaching.html
Mobile[phone]
2
Robotics and Machine Vision
Acknowledgement
Most sliders of this module use Dr Fok's
materials. I would like to appreciate his
contribution to this course. I add some for
making students understand easily
3
Robotics and Machine Vision
4
Robotics and Machine Vision
5
Robotics and Machine Vision
6
Robotics and Machine Vision
Note initial coordinate system definition is not
unique. However, such a definition does not
affect the coordinates under the reference frame
7
Robotics and Machine Vision
8
Robotics and Machine Vision
9
Robotics and Machine Vision
10
Robotics and Machine Vision
11
Robotics and Machine Vision
D-H constraints
12
Robotics and Machine Vision
Rotate around z-axis
Translation
Final Transformation
13
Robotics and Machine Vision
14
Robotics and Machine Vision
15
Robotics and Machine Vision
Rotate around x-axis
Translation
Rotate around z-axis
16
Robotics and Machine Vision
17
Robotics and Machine Vision
18
Robotics and Machine Vision
Rotate around z-axis
Translation
Final transformation
19
Robotics and Machine Vision
20
Robotics and Machine Vision
21
Robotics and Machine Vision
22
Robotics and Machine Vision
23
Robotics and Machine Vision
Note the point is the coordinate under the base
24
Robotics and Machine Vision
25
Robotics and Machine Vision
26
Robotics and Machine Vision
27
Robotics and Machine Vision
28
Robotics and Machine Vision
29
Robotics and Machine Vision
30
Robotics and Machine Vision
Robotics and Machine Vision
Rotation around the Y-Axis
Rotation around the X-Axis
31
Robotics and Machine Vision
Robotics and Machine Vision
Rotation around the Z-Axis
Translation
32
Robotics and Machine Vision
33
Robotics and Machine Vision
Thank you