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RL Robot #458

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junxnone opened this issue Nov 21, 2023 · 0 comments
Open

RL Robot #458

junxnone opened this issue Nov 21, 2023 · 0 comments

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@junxnone
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junxnone commented Nov 21, 2023 •
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Robot 基础知识

  • 刚体(Rigid body): 假设质点系里的所有质点都是相对静止的，也就是整个系统没有任何形变，那么这个系统是一个理想刚体
  • 自由度(DOF - Degrees-of-Freedom): 完全描述刚体位置需要的维度
    • 三维空间 自由运动刚体 自由度为 6 A(x, y, z) B(m, n) C(α) 或者 平移与旋转 - (x, y, z, α, β, γ)
    • 二维空间 自由运动刚体 自由度为 3 A(x, y) B(α)
  • 位形空间(C-Space - Configuration space)
  • 拓扑
  • 旋转

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