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Modern Robotics Mechanics--Planning and Control 平板电脑版本
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2017年5月最新版本,平板电脑格式。 This preprint is being made available for personal use only and not for further distribution. The book will be published by Cambridge University Press in May 2017, ISBN 9781107156302. Citations of the book should cite Cambridge University Press as the publisher, with a publication date of 2017.
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MODERN ROBOTICS
MECHANICS, PLANNING, AND CONTROL
Kevin M. Lynch and Frank C. Park
May 3, 2017
This document is the preprint version of
Modern Robotics
Mechanics, Planning, and Control
c
Kevin M. Lynch and Frank C. Park
This preprint is being made available for personal use only and not for further
distribution. The book will be published by Cambridge University Press in
May 2017, ISBN 9781107156302. Citations of the book should cite Cambridge
University Press as the publisher, with a publication date of 2017. Original
figures from this book may be reused provided proper citation is given. More
information on the book, including software, videos, and a feedback form can
be found at http://modernrobotics.org. Comments are welcome!
Contents
Foreword by Roger Brockett ix
Foreword by Matthew Mason xi
Preface xiii
1 Preview 1
2 Configuration Space 11
2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12
2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15
2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 Gr¨ubler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Configuration Space: Topology and Representation . . . . . . . . 23
2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23
2.3.2 Configuration Space Representation . . . . . . . . . . . . 25
2.4 Configuration and Velocity Constraints . . . . . . . . . . . . . . . 29
2.5 Task Space and Workspace . . . . . . . . . . . . . . . . . . . . . 32
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3 Rigid-Body Motions 59
3.1 Rigid-Body Motions in the Plane . . . . . . . . . . . . . . . . . . 62
3.2 Rotations and Angular Velocities . . . . . . . . . . . . . . . . . . 68
3.2.1 Rotation Matrices . . . . . . . . . . . . . . . . . . . . . . 68
3.2.2 Angular Velocities . . . . . . . . . . . . . . . . . . . . . . 76
3.2.3 Exponential Coordinate Representation of Rotation . . . 79
3.3 Rigid-Body Motions and Twists . . . . . . . . . . . . . . . . . . . 89
i
ii Contents
3.3.1 Homogeneous Transformation Matrices . . . . . . . . . . 89
3.3.2 Twists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.3.3 Exponential Coordinate Representation of Rigid-Body Mo-
tions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
3.4 Wrenches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
3.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
3.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 115
3.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4 Forward Kinematics 137
4.1 Product of Exponentials Formula . . . . . . . . . . . . . . . . . . 140
4.1.1 First Formulation: Screw Axes in the Base Frame . . . . 141
4.1.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4.1.3 Second Formulation: Screw Axes in the End-Effector Frame148
4.2 The Universal Robot Description Format . . . . . . . . . . . . . 152
4.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
4.4 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
4.5 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 160
4.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
5 Velocity Kinematics and Statics 171
5.1 Manipulator Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 178
5.1.1 Space Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 178
5.1.2 Body Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 183
5.1.3 Visualizing the Space and Body Jacobian . . . . . . . . . 185
5.1.4 Relationship between the Space and Body Jacobian . . . 187
5.1.5 Alternative Notions of the Jacobian . . . . . . . . . . . . 187
5.1.6 Looking Ahead to Inverse Velocity Kinematics . . . . . . 189
5.2 Statics of Open Chains . . . . . . . . . . . . . . . . . . . . . . . . 190
5.3 Singularity Analysis . . . . . . . . . . . . . . . . . . . . . . . . . 191
5.4 Manipulability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
5.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
5.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 201
5.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
6 Inverse Kinematics 219
6.1 Analytic Inverse Kinematics . . . . . . . . . . . . . . . . . . . . . 221
6.1.1 6R PUMA-Type Arm . . . . . . . . . . . . . . . . . . . . 221
6.1.2 Stanford-Type Arms . . . . . . . . . . . . . . . . . . . . . 225
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
Contents iii
6.2 Numerical Inverse Kinematics . . . . . . . . . . . . . . . . . . . . 226
6.2.1 Newton–Raphson Method . . . . . . . . . . . . . . . . . . 227
6.2.2 Numerical Inverse Kinematics Algorithm . . . . . . . . . 227
6.3 Inverse Velocity Kinematics . . . . . . . . . . . . . . . . . . . . . 232
6.4 A Note on Closed Loops . . . . . . . . . . . . . . . . . . . . . . . 234
6.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
6.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 236
6.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
7 Kinematics of Closed Chains 245
7.1 Inverse and Forward Kinematics . . . . . . . . . . . . . . . . . . 247
7.1.1 3×RPR Planar Parallel Mechanism . . . . . . . . . . . . . 247
7.1.2 Stewart–Gough Platform . . . . . . . . . . . . . . . . . . 249
7.1.3 General Parallel Mechanisms . . . . . . . . . . . . . . . . 251
7.2 Differential Kinematics . . . . . . . . . . . . . . . . . . . . . . . . 252
7.2.1 Stewart–Gough Platform . . . . . . . . . . . . . . . . . . 252
7.2.2 General Parallel Mechanisms . . . . . . . . . . . . . . . . 254
7.3 Singularities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
7.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
7.5 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 262
7.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
8 Dynamics of Open Chains 271
8.1 Lagrangian Formulation . . . . . . . . . . . . . . . . . . . . . . . 272
8.1.1 Basic Concepts and Motivating Examples . . . . . . . . . 272
8.1.2 General Formulation . . . . . . . . . . . . . . . . . . . . . 277
8.1.3 Understanding the Mass Matrix . . . . . . . . . . . . . . 279
8.1.4 Lagrangian Dynamics vs. Newton–Euler Dynamics . . . . 281
8.2 Dynamics of a Single Rigid Body . . . . . . . . . . . . . . . . . . 283
8.2.1 Classical Formulation . . . . . . . . . . . . . . . . . . . . 283
8.2.2 Twist–Wrench Formulation . . . . . . . . . . . . . . . . . 288
8.2.3 Dynamics in Other Frames . . . . . . . . . . . . . . . . . 290
8.3 Newton–Euler Inverse Dynamics . . . . . . . . . . . . . . . . . . 291
8.3.1 Derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
8.3.2 Newton-Euler Inverse Dynamics Algorithm . . . . . . . . 294
8.4 Dynamic Equations in Closed Form . . . . . . . . . . . . . . . . . 294
8.5 Forward Dynamics of Open Chains . . . . . . . . . . . . . . . . . 298
8.6 Dynamics in the Task Space . . . . . . . . . . . . . . . . . . . . . 300
8.7 Constrained Dynamics . . . . . . . . . . . . . . . . . . . . . . . . 301
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
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