Flashcards for Homogeneous Transforms
1
Q
What are the three frames used in robotics to describe a robot’s position and movement?
A
Base frame, Task frame, and World frame.
2
Q
What is the base frame?
A
The base frame is where the robot is placed and is attached to the robot.
3
Q
What is the task frame?
A
The task frame is where the robot is supposed to do a task, and it can be placed on an object in the world if the task is to pick up an object.
4
Q
What is the world frame?
A
The world frame is the entire workspace and serves as a fixed reference frame.
5
Q
What is the tool frame?
A
The tool frame is placed on the end effector of the robot.
6
Q
What do homogeneous transforms allow us to do?
A
They let us go from one frame to another, representing the position and orientation of a rigid body.
7
Q
A
