Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 35

The first problem encountered is to describe both the position of the tool and the locations A and B (and most likely the entire surface S) with respect to a common coordinate system. In Chapter 2 we describe representations of coordinate systems and transformations among various coordinate systems. We describe several ways to represent rotations and rotational transformations and we introduce so-called homogeneous transformations, which combine position and orientation into a single matrix representation.