2
我學導論機器人,發現有不同的方程式使用DH參數變換矩陣來確定機器人的末端執行器的位置和方向,它們是:機器人:用於DH齊次變換矩陣參數
1.
Translate by d_i along the z_i-axis.
Rotate counterclockwise by theta_i about the z_i-axis.
Translate by a_{i-1} along the x_{i-1}-axis.
Rotate counterclockwise by alpha_{i-1} about the x_{i-1}-axis.
2.
Rotate by theta_i about the Z_i-axis.
Translate by d_i along the z_i-axis.
Translate by a_(i-1) along the x(i-1)-axis.
Rotate by alpha_(i-1)along the x(i-1)-axis.
3.
Rotate by alpha_(i-1)along the x(i-1)-axis.
Translate by a_(i-1)along the x(i-1)-axis.
Rotate by theta_i about the Z_i-axis.
Translate by d_i about the Z_i-axis.
他們之間有什麼區別?結果會不一樣嗎? 計算位置和方向時應使用哪一個?
也許這會更好的問在robotics.stackexchange.com,這裏似乎沒有編程問題。 – missimer