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Introduction to Homogeneous Transformations & Robot Kinematics
Jennifer Kay, Rowan University Computer Science Department
Page 1 of 25
Introduction to Homogeneous Transformations & Robot Kinematics
Jennifer Kay, Rowan University Computer Science Department
January 2005
1. Drawing 3 Dimensional Frames in 2 Dimensions
2. Right Handed Coordinate Systems
3. Direction of Positive Rotation
4. Plotting Points in 3 Dimensions
5. Working With Multiple Coordinate Frames
6. Homogeneous Transformations
6.1 Representing Points
6.2 The Use of Multiple Coordinate Frames in Robotics
6.3 Transforming Points Between Coordinate Frames
6.4 Review: Determining the Homogeneous Transformation when Frames Differ only by Translation
6.5 Coordinate Frames that Differ by a Rotation Around One Axis
6.6 Putting it All Together
Summary of transformation matrices
Two coordinate frames.
7. Forward Kinematics
A simple robot
7.2 A Second Example
7.3 Some Tips on Using Mathematica
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