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Matrix representation of the rotation operator rot(
a,
b) in a frame
kth basic rotation matrix;
Augmented position matrix of a point
P with respect to a frame
Position vector of an implied point (in a general use)
Wrist point position vector with respect to the base frame;
Column matrix representation of
in the base frame;
Column matrix representation of a vector
in a frame
;
Column matrix representation of a vector
in a frame
;
kth component of a vector
in a frame
;
Displacement vector from the origin
Ok − 1 to the origin
OkColumn matrix representation of
in the link frame
Position vector of a point
P with respect to an implied point
Position vector of a point
P with respect to a point
Q;
Displacement vector from a point
Q to a point
P;
skJoint variable (sliding displacement) of the prismatic joint
skVariable offset of
with respect to
if
is prismatic
SShoulder point of a manipulator
Surface of the kinematic element
Joint space of a manipulator
Task space of a manipulator
Approach vector of the end‐effector;
kth basic column matrix;
kth unit basis vector of a frame
Column matrix representation of
in a frame
;
Normal vector of the end‐effector;
Side vector of the end‐effector;
Unit vector along the common normal
Unit vector along the axis of
Basis vector triad of a reference frame
;
Basis vector triad of the link frame
;
Tip point velocity influence coefficient due to
;
Velocity of an implied point (in a general use)
Tip point velocity with respect to the base frame;
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