In this article, we plan to provide an introduction about some basics about robots for readers. Several key topics of classic robotics will be introduced, including robot representation, robot rotational motion, coordinates transformation and velocity transformation. By now, classic rigid-body robot analysis is still the main-stream approach in robot controlling and motion planning. In this article, no data-driven or machine learning based methods will be introduced. Most of the materials covered in this article are based on the rigid-body kinematics that the readers probably have learned from the physics course at high-school or college. Meanwhile, these classic robot kinematics analyses will serve as the foundation for the latest intelligent robot control algorithms in modern robotics studies.
翻译:在此篇文章中, 我们计划向读者介绍机器人的一些基本知识。 一些经典机器人的关键主题将会被引入, 包括机器人代表、 机器人旋转运动、 坐标变换和速度变换。 到现在, 经典的僵硬机器人分析仍然是机器人控制和运动规划的主要流方法 。 在本篇文章中, 将不会引入数据驱动或机器学习方法 。 本篇文章所涵盖的大部分材料可能基于读者可能从高中或大学物理课程学到的僵硬身体运动学。 与此同时, 这些经典机器人运动学分析将成为现代机器人研究中最新的智能机器人控制算法的基础 。