Coordinates , Conversions , and Kinematics for the Rochester Robotics Lab

This is a guide to coordinate systems, representations, and geometric relationships between them, for components of the Rochester Robotics Laboratory. The main entities at issue are the joint angles, location variables, and coordinate systems of the Puma, the camera angles and coordinate systems associated with the head, the spatial location of three-dimensional points, and the kinematic and inverse kinematic relationships between them. The robot-to-camera kinematic chain is described, conversions between homogeneous transformations and VAL location descriptions are provided, and inverse problems (camera angles to aim cameras at a 3-D point given a robot configuration, binocular stereo calculations) are solved. Constants describing the robot head and sample robot description data structures are provided. This work was supported by the DARPA U.S. Army Engineering Topographic Labs Grant No. DACA76-85-C-0001, and by the Air Force Systems Command, Rome Air Development Center, Griffiss AFB, NY, 13441-5700, and the Air Force Office of Scientific Research, Bolling AFB, DC, 20332, under Contract No. F30602-85-C-0008. This contract supports the Northeast AI Consortium (NAIC). The Xerox University Grants Program provided equipment used in the preparation of this paper. Peggy Meeker and Rose Peet produced the graphics. SECURITY CLASSIFICATION OF THIS PAGE (When D.t. Entered) r READ INSTRUCTIONS REPORT DOCUMENTATION PAGE BEFORE COMPLETING FORM 1. REPORT NUMBER GOVT ACCESSION NO.3. RECIPIENT'S CATA~OG NUMBER TR 259 4. TITLE (lII1d Subtitle) Coordinates, Conversions, and KJnematics for the Rochester Robotics Lab