Appendix B: Trajectory Generation (Special Consideration for Orientation)

Patel, R.V.; Shadpey, F.

doi:10.1007/10966594_9

R.V. Patel¹ &
F. Shadpey²

Part of the book series: Lecture Notes in Control and Information Science ((LNCIS,volume 316))

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Abstract

The desired orientation at the end of each segment is specified by the user in a pre-programed task file. This orientation is specified in the form of X-Y-Z Fixed Angles [16]. In this representation, the orientation is specified by a 3 dimensional vector \([\gamma, \beta, \alpha]\) which can be converted to a Direction Cosine Matrix (DCM) representation as follows:

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Authors and Affiliations

University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, Ontario, Canada N6A 5B9
R.V. Patel
Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, Quebec, Canada H4R 1K2
F. Shadpey

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R.V. Patel
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F. Shadpey
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Patel, R., Shadpey, F. Appendix B: Trajectory Generation (Special Consideration for Orientation). In: Control of Redundant Robot Manipulators. Lecture Notes in Control and Information Science, vol 316. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10966594_9

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DOI: https://doi.org/10.1007/10966594_9
Published: 05 August 2005
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25071-5
Online ISBN: 978-3-540-31591-9
eBook Packages: EngineeringEngineering (R0)

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