万向移动四足机器人位姿描述研究

Research on the Position and Pose Description of Universal Mobile Quadruped Robot

通过位置矢量对机器人的位置进行了描述,采用旋转矩阵在固定角坐标系和欧拉角坐标系中对机器人的姿态进行了描述。并应用齐次变换矩阵描述了万向移动四足机器人的足尖端位姿。位姿描述能够为机器人下一步的分析打下基础。

According to position vector, the po-sition of robot is described in this paper. The atti-tude of robot is described in fixed angle coordinatesystem and euler angle coordinate system by usingof rotation matrix. The foot tip pose of universalmobile quadruped robot is described by means ofhomogeneous transform matrix. The position andpose description of robot can be used for furtherstudy.