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<div class="bm_haa cl"> <div class="bm_h cl"> <a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a><h1 class="xs2">文章</h1> </div></div> <div class="kjkjb"> <div class="bm vw" style="margin-bottom:0;"> <div class="h hm"> <div class="zxtoux"><img src="http://www.oecr.com/uc_server/avatar.php?uid=54876&size=small" /></div> <h1 class="ph">东芝公司开发的柔性致动器 斯坦福大学公开课：机器人学 3 </h1> <p class="xg1"> 时间：2015-7-19 01:01<a class="zz" href="home.php?mod=space&uid=54876">作者：update</a> 阅读<em id="_viewnum">(2347)</em> 评论: <a href="http://www.oecr.com/portal.php?mod=comment&id=3493&idtype=aid" title="查看全部评论"><em id="_commentnum">5</em></a></p> <div class="zxfb" ><a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a></div> </div> <!--[diy=diysummarytop]--><div id="diysummarytop" class="area"></div><!--[/diy]--> <div class="s"> <div class="ss"><div><span>导读： </span>机器人学导论第三课开始的视频介绍了东芝公司开发的柔性致动器，体积小，由气压驱动，可以简单模仿手脚的运动。接着本课介绍了齐次变换的几个功能：描述坐标系；旋转或平移矢量以及得到某一矢量在另外坐标系的描述， ...</div> </div> <!--[diy=diysummarybottom]--><div id="diysummarybottom" class="area"></div><!--[/diy]--> <div class="d"> <!--[diy=diycontenttop]--><div id="diycontenttop" class="area"></div><!--[/diy]--> <table cellpadding="0" cellspacing="0" class="vwtb"><tr><td id="article_content"><span id="swf_P8g"></span><script type="text/javascript" reload="1">$('swf_P8g').innerHTML=AC_FL_RunContent('width', '520', 'height', '390', 'allowNetworking', 'internal', 'allowScriptAccess', 'never', 'src', encodeURI('http://swf.ws.126.net/openplayer/v02/-0-2_M6TN5NEEU_M6TN68S18-vimg1_ws_126_net//image/snapshot_movie/2011/9/0/5/M7DL6QE05-1421720937445.swf'), 'quality', 'high', 'bgcolor', '#ffffff', 'wmode', 'transparent', 'allowfullscreen', 'true');</script><div><br></div><div>机器人学导论第三课开始的视频介绍了东芝公司开发的柔性致动器，体积小，由气压驱动，可以简单模仿手脚的运动。接着本课介绍了齐次变换的几个功能：描述坐标系；旋转或平移矢量以及得到某一矢量在另外坐标系的描述，即映射。此外，还有作为运算式的齐次变换转换。齐次变换即为已知某个矩阵和多个坐标系时，将它们相乘即可。如果已知所有坐标系间的关系，基座也是固定的，于是就可以计算出末端执行器的位置，进而得到基座的位置。如果一组变换只有一个是缺失的，就可以通过它与其它坐标系的关系确定出来。表达式包括空间的描述和旋转的表述，具体来说就是如何在空间中定位末端执行器以及怎样把它移动到某个位置。最后本课讨论了如何运用三个角的表述来表示坐标系的变换、奇异性、固定角以及欧拉参数等问题，并围绕着这些基本问题讨论了欧拉角，旋转等具体实例。</div></td></tr></table> <!--[diy=diycontentbottom]--><div id="diycontentbottom" class="area"></div><!--[/diy]--> <script src="data/cache/home.js?eOg" type="text/javascript"></script> <div id="click_div"><table cellpadding="0" cellspacing="0" class="atd"> <tr><td> <a href="http://club.oecr.com/home.php?mod=spacecp&ac=click&op=add&clickid=1&idtype=aid&id=3493&hash=6e6fbb28f9aac6af03e8aca016de7602&handlekey=clickhandle" id="click_aid_3493_1" onclick="showWindow(this.id, this.href);doane(event);"> <img src="static/image/click/jidan.gif" alt="" /><br />鸡蛋</a> </td> <td> <a 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name="comment_anchor_1369"></a> <dl id="comment_1369_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1369, '3493');">引用</a> </span> <a href="http://club.oecr.com/space-uid-160429.html" class="xi2 xw1" c="1">49403775</a> <span class="xg1 xw0">2015-7-29 06:14</span> </dt> <dd>我还是学生呢。</dd> </dl><a name="comment_anchor_1277"></a> <dl id="comment_1277_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1277, '3493');">引用</a> </span> <a href="http://club.oecr.com/space-uid-52779.html" class="xi2 xw1" c="1">syusqing</a> <span class="xg1 xw0">2015-7-27 08:42</span> </dt> <dd>OMG！介是啥东东！！！</dd> </dl><a name="comment_anchor_1247"></a> <dl id="comment_1247_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1247, '3493');">引用</a> </span> <a href="http://club.oecr.com/space-uid-66232.html" class="xi2 xw1" c="1">fern</a> <span class="xg1 xw0">2015-7-26 17:41</span> </dt> <dd>占位编辑</dd> </dl><a name="comment_anchor_1051"></a> <dl id="comment_1051_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1051, '3493');">引用</a> </span> <a href="http://club.oecr.com/space-uid-69096.html" class="xi2 xw1" c="1">xiaoyang07</a> <span class="xg1 xw0">2015-7-22 17:37</span> </dt> <dd>光电行业前景挺好啊。</dd> </dl><a name="comment_anchor_988"></a> <dl id="comment_988_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(988, '3493');">引用</a> </span> <a href="http://club.oecr.com/space-uid-152650.html" class="xi2 xw1" c="1">rayshawne</a> <span class="xg1 xw0">2015-7-21 10:05</span> </dt> <dd>OMG！介是啥东东！！！</dd> </dl></div> </div> <!--[diy=diycontentcomment]--><div id="diycontentcomment" 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