Active versus passive transformations in robotics

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Selig, JM (2006)

Most current texts on robotics use the passive approach, where the rigid body has a coordinate frame embedded in it, and then its position and orientation is given by the coordinate transformation from the world frame to a frame moving with the body. If there are several bodies carrying several different frames, it can be hard to account for all the different frames. On the other hand, active approach has only a single fixed coordinate frame. The position and orientation of a rigid body is specified by the transformation, which moves the body from its home position to its current position. It is therefore more convenient for students and teachers to use the active view which has only a single frame compared to passive which has multiple frames.
  • References (10)

    [1] J.J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed. Reading, MA: Addison-Wesley, 1986.

    [2] J.K. Davidson and K.H. Hunt, Robots and Screw Theory: Applications of Kinematics and Statics to Robotics. London, UK.: Oxford Univ. Press, 2004.

    [3] K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, Robotics-Control, Sensing, Vision and Intelligence. New York: McGraw-Hill, 1987.

    [4] P.J. McKerrow, Introduction to Robotics. Reading, MA: Addison Wesley, 1990.

    [5] R.P. Paul, Robot Manipulators: Mathematics, Programming, and Control. Cambridge, MA: MIT Press, 1981.

    [6] J.M. Selig, Introductory Robotics. Englewood Cliffs, NJ: Prentice Hall, 1992.

    [7] M.W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.

    J.M. Selig graduated from the University of York, U.K., in 1980 with a B.Sc. in physics. He went on to study in the Department of Applied Maths and Theoretical Physics at the University of Liverpool and was awarded a Ph.D. in 1984. From 1984-1987, he was a postdoctoral fellow in the design discipline of the Open University, studying robot gripping. He joined the Department of Electrical and Electronic Engineering at South Bank Polytechnic in 1987.

    In 1999, he transferred to the School of Computing, Information Systems, and Mathematics. His research interests can be summarized as the applications of modern geometry to problems in robotics.

    Address for Correspondence: J.M. Selig, Faculty of Business, Computing and Information Management, London South Bank University, London SE1 0AA, UK. Phone: +44 20 7815 7461. E-mail: seligjm@lsbu.ac.uk.

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