Introduction to Robotics
It is like…
Robot coordinate frames are like giving directions
Robot coordinate frames are like giving directions in Tarkwa
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Lesson notes
Key points
- If someone says go two streets left, you must first know whether they mean from the market or from you.
- A robot works the same way: every position is described relative to a frame, like the base frame or the tool frame.
- The analogy breaks because robot frames also rotate, so converting between them needs a transformation matrix, not just adding distances.
Takeaway: A position means nothing until you say which frame it is in.
Quick check: Why is adding offsets not enough to move between two robot frames?
- Frames may be rotated
- Frames use different units
- Frames have no origin
Rotation changes axis directions, so a rotation matrix is needed too.
Reference pointFrame mappingTransformation matrix
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