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Grasp transformation matrix

  1. Feb 19, 2014 #1
    Hello everyone, i am now working on a problem with three fingers robot hand to grab a cube to undergo some motion
    however i face some difficulties on deriving the grasp transformation matrix which help to switching the local coordinate frame
    at first i was given three point vectors [0 1 0]^T, [1 0.5 0]^T, [0 -1 0]^T (T means transpose)
    then to calculate a Grasp transformation matrix
    i would like to know the step to achieve the result and any general method for deriving the matrix?
    thanks very much for your help !
     
  2. jcsd
  3. Feb 19, 2014 #2

    maajdl

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    Gold Member

    Read some of these introductions:

    http://commons.bcit.ca/math/examples/robotics/linear_algebra/

    http://elvis.rowan.edu/~kay/papers/kinematics.pdf

    http://en.wikipedia.org/wiki/Transformation_matrix#Affine_transformations
    http://en.wikipedia.org/wiki/Transformation_matrix


    I guess you are familiar with matrices to represent linear transformations like rotations.
    The only special thing in these "robotic transformation matrices" is the use of a fourth "homogeneous" coordinate.
    This allows to represent the group of rotations and translations at the same time, with matrices.
     
    Last edited: Feb 19, 2014
  4. Feb 19, 2014 #3
    i have read through the materials ,however, the angle of rotation and any other information concerning the transformation has not been given, that's why i have been stucked for so long
    the result is as the pic attached
    any help?
     

    Attached Files:

  5. Feb 20, 2014 #4
    Could you please answer these so that I can understand your question better?
    Are these vectors the points on the cube that you need to grasp?
    Do you have any information about the base frame and the position/ orientation of the hand?
     
  6. Feb 22, 2014 #5
    yes they are the point that i need to grasp, however no other information are povided
    that's why i have been stucked so long
     
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