Robotics 1

Rotation Matrices

Rotation Matrices

This video introduces the concept of 'Rotation Matrices' as a way to represent the rotation, or orientation, of one coordinate frame relative to another. The three rotation matrices (rotation around X, Y, and Z) are given, and the derivation of the rotation around the Z axis shown. This video also shows how any rotations can be accomplished by stringing together rotations around X, Y, and Z, and multiplying the corresponding matrices.

This video teaches how to compute rotation matrices in Python, and discusses the meaning of the numbers calculated relative to the manipulator.

This video shows five examples of rotation matrix calculation: the five standard manipulator types.

To complete this lab activity, make a video that includes the following in one video:

(1) You saying your name

Undergraduate students:

(2) Your Python code calculating the complete rotation matrix from frame 0 to frame 3 for an Articulated manipulator, with the three angles being 15 degrees, 30 degrees, and 60 degrees

Graduate students:

(2) Your Python code calculating the complete rotation matrix from frame 0 to frame 6 for a spherical manipulator with spherical wrist, with the six angles all being 90 degrees

(1) You saying your name

Undergraduate students:

(2) Your Python code calculating the complete rotation matrix from frame 0 to frame 3 for an Articulated manipulator, with the three angles being 15 degrees, 30 degrees, and 60 degrees

Graduate students:

(2) Your Python code calculating the complete rotation matrix from frame 0 to frame 6 for a spherical manipulator with spherical wrist, with the six angles all being 90 degrees

This video shows one example of a 6-DoF rotation matrix, and also shows you how to check your work by calculating the rotation matrix for specific angles in Python, and comparing the results to the kinematic diagram.