论文标题
机器人基础知识：表示，旋转和速度
Robot Basics: Representation, Rotation and Velocity
论文作者
论文摘要
在本文中，我们计划提供有关读者机器人的一些基础知识的介绍。将引入经典机器人技术的几个关键主题，包括机器人表示，机器人旋转运动，坐标转换和速度转换。到目前为止，经典的刚性机器人分析仍然是机器人控制和运动计划中的主流方法。在本文中，不会介绍任何基于数据驱动的方法或基于机器学习的方法。本文涵盖的大多数材料都是基于读者从高中或大学的物理课程中学到的僵化的运动学。同时，这些经典的机器人运动学分析将成为现代机器人研究中最新智能机器人控制算法的基础。
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.
