26-01-2012, 02:52 PM
An Introduction to Robot Kinematics
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Quick Matrix Review
Matrix Multiplication:
An (m x n) matrix A and an (n x p) matrix B, can be multiplied since the number of columns of A is equal to the number of rows of B.
The Situation:
You have a robotic arm that starts out aligned with the xo-axis.
You tell the first page link to move by 1 and the second page link to move by 2.
The Quest:
What is the position of the end of the robotic arm?
. Geometric Approach
This might be the easiest solution for the simple situation. However, notice that the angles are measured relative to the direction of the previous link. (The first page link is the exception. The angle is measured relative to it’s initial position.) For robots with more links and whose arm extends into 3 dimensions the geometry gets much more tedious.
