An Example of Robot Arm Local Coordinate After Rotation.

Contexts in source publication

Context 1

... first discard the second robot arm link from the example shown in Figure 4 and only use the 1-arm robot illustrated in Figure 5 as an example. ...

Context 2

... 8 As shown in Figure 5, we rotate the robot arm around joint a from the previous vertical position in Figure 4 in the clockwise direction with an angle of θ degrees to the current position. As the arm link rotates, the local coordinate attached to the robot arm joint will rotate clockwise with θ degrees as well, and the new local coordinate system after the rotation can be denoted as Σ a . ...

Context 3

... to the right-hand rule, for the rotations in the counter-clockwise direction, their rotation matrices can be simply represented as those in Equation 21. Meanwhile, when it comes to the clockwise rotation (just like Figure 5), we can add a negative mark to the angles before applying them in Equation 21 for defining the rotation matrices, which will lead to the rotation matrix representation in Equation 9. ...