ECE6,4990-02 Forward kinematics
From Ece
This page provides supplementary material on forward kinematics discussed in ECE6,4990-02 Intro to Robotics.
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Rotations
The Matlab files xRotate.m, yRotate.m, and zRotate.m rotate about the indicated axis. For a rotation in degrees, use xRotated.m, yRotated.m, and zRotated.m.
A gimbal allows rotation about 3 axes, but can encounter gimbal lock. For example, in Matlab:
syms phi theta psi
rollPitchYaw = simple(zRotate(phi)*yRotate(theta)*xRotate(psi)) % The rotation matrix
simple(zRotate(phi)*yRotate(sym('pi')/2)*xRotate(psi)) % The matrix at gimbal lock
To create a homogenous transformation matrix A from a rotation and a translation, use aMatrix.m. The A matrix resulting from a D-H table entry is dhMatrix.m.
