Re: A nomenclature question

On Mon, 30 Jun 2003, Leopold Palomo Avellaneda wrote:

[...]
> It would be a good idea to chosse ONE to implement internally and
> after to create all the user interfaces? And which one?

Homogeneous transformation matrices!

> I have searching nomenclatures and I have found in a thesis:
> http://vrai-group.epfl.ch/projects/cinegen/thesis.pdf that choose the 
> Kleinfunger-Khalil nomenclature that the Travelling Coordinate System. I have 
> tried to find some information about the last one but I'm waiting the book in 
> the library. The implementation of the kinematics and dynamics orocos library 
> what use, or which one will use?
> 
I don't see the advantage of choosing TCS: not that it is bad, but
what real advantage does it bring to make contributors learn a
particular _convention_? I notice this every year again with students:
they just make lots of "formal errors"; take a look at the table on p
45 of that document and you will know why :-)  Just let a designer
define his coordinate frames in what seems the most appropriate way
for a particular mechanism. For that mechanism, the efficient
kinematics have to be coded anyway. And for the "external" use of the
device, all that counts is the tool centre point or end effector
frame.

Herman
-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480