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These are the rotation matrices of the robot about Z and Y axis. You might want to watch this video first in which I explain these rotation matrices and how they are derived: th-cam.com/video/ZNcdYDGP-PA/w-d-xo.html
Yes you are right. They are also called twist joints. Usually you can call the same joints a number of names which depends on which direction you are looking at them from. If you are looking at this joint along the direction of the link, then it seems to twist. If you are looking from the side, it seems to 'revolve' around an axis. In the books and literature, you can find it referred to with a bunch of different names with the most common being an 'R' or revolute joint. Hope that clarifies the confusion.
The frames can be easily represented from this representation to the DH convention. They both are representing the same information. I just like this convention to be more intuitive.
✍Any Questions, doubts, or thoughts? Comment below (I read & respond to every comment).
👉Don't forget to SUBSCRIBE to the channel for more such videos & courses: bit.ly/Engineering-Simplified
Keep up the good stuff brother this is really good
Thank you so much, Moataz! As long as people find my content useful, I will continue making these videos :)
how did you get the detailed matrix in 07:35 ?
These are the rotation matrices of the robot about Z and Y axis. You might want to watch this video first in which I explain these rotation matrices and how they are derived: th-cam.com/video/ZNcdYDGP-PA/w-d-xo.html
I have a doubt regarding the First and third joint. Aren't they twisting joints ?. Can you please explain why did you call them as revolute joints.
Yes you are right. They are also called twist joints. Usually you can call the same joints a number of names which depends on which direction you are looking at them from. If you are looking at this joint along the direction of the link, then it seems to twist. If you are looking from the side, it seems to 'revolve' around an axis.
In the books and literature, you can find it referred to with a bunch of different names with the most common being an 'R' or revolute joint.
Hope that clarifies the confusion.
@@EngineeringSimplified Thank you
Glad to have helped!
the frams are not well done rereed the DH convention
The frames can be easily represented from this representation to the DH convention. They both are representing the same information. I just like this convention to be more intuitive.