Helix 工具包，获取新的旋转向量

Question

我有一个 6 轴机器人。

我试图让每个轴独立移动。当轴一处于其原点角度时，机器人轴都正确移动，但是当它被修改后，所有其他轴移动不正确。它们保留了正确的旋转点，而不是新的向量。

The Skewed axis

我按照这个教程http://www.barth-dev.de/getting-started-3d-wpf/

//moves axis_1
void move_axis_1(double angle)
{
    //rotate the object by "angle", the vector describes the axis
    RotateTransform3D axis_1_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), angle));
    //tells where the point of rotation is
    axis_1_transform.CenterX = 77.5;
    axis_1_transform.CenterY = 21.5;
    axis_1_transform.CenterZ = -8;
    //apply transformation
    axis_1.Transform = axis_1_transform;
    //also move the axis 2
    move_axis_2(axis_2_angle);            
}

//moves axis_2
void move_axis_2(double angle)
{
    //new group of transformations, the group will "add" movements
    var Group_3D = new Transform3DGroup();
    Group_3D.Children.Add(axis_1.Transform);

    //we need to find out where our old point is now
    Point3D origin = Group_3D.Transform(new Point3D(84.6, 21, -2));

    //create new transformation
    RotateTransform3D axis_2_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), angle));
    axis_2_transform.CenterX = origin.X;
    axis_2_transform.CenterY = origin.Y;
    axis_2_transform.CenterZ = origin.Z;

    //add it to the transformation group (and therefore to axis_1 movement
    Group_3D.Children.Add(axis_2_transform);

    //Apply the transform
    axis_2.Transform = Group_3D;

    //also move
    move_axis_3(axis_3_angle);         
}

//moves axis_3
void move_axis_3(double angle)
{
    //new group of transformations, the group will "add" movements
    var Group_3D = new Transform3DGroup();
    Group_3D.Children.Add(axis_2.Transform);

    //we need to find out where our old point is now
    Point3D origin = Group_3D.Transform(new Point3D(84.6, 17, 16.2));

    //create new transformation
    RotateTransform3D axis_3_transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), angle));
    axis_3_transform.CenterX = origin.X;
    axis_3_transform.CenterY = origin.Y;
    axis_3_transform.CenterZ = origin.Z;

    //add it to the transformation group 
    Group_3D.Children.Add(axis_3_transform);

    //Apply the transform
    axis_3.Transform = Group_3D;

    //also move
    move_axis_4(axis_4_angle);           
}

Answer 1

你还必须转换向量。

//we need to find out where our old point is now
Point3D origin = Group_3D.Transform(new Point3D(84.6, 21, -2));

//we also need to find out where our old vector is pointing now
Vector3D vector = Group_3D.Transform(new Vector3D(0, 1, 0));

//create new transformation
RotateTransform3D axis_2_transform = new RotateTransform3D(new AxisAngleRotation3D(vector, angle));
axis_2_transform.CenterX = origin.X;
axis_2_transform.CenterY = origin.Y;
axis_2_transform.CenterZ = origin.Z;

我也更喜欢旋转中心的过载。然后你不需要在之后设置中心。但这只是我的看法：

//create new transformation
RotateTransform3D axis_2_transform = 
       new RotateTransform3D(new AxisAngleRotation3D(vector, angle), origin);