robot dynamics and control(机器人动力学与控制)

【实例简介】
机器人学中的很好的书，英文
Contents T INTRODUCTION 1.1 Robotics 5 1.2 History of Robotics 1.3 Comlponents and Structure of robots 1.3.1 Symbolic Representation of Robots 1.3.2 Degrees of Freedom and Workspace 11.3.3 Classification of robots 10 1.3.1 Common Kinematic Arrangements 11 1.3.5 Robotic Systems 1.3.6 Accuracy and Repeatability 16 1.3.7 Wrists and Fnd-Fffectors 1.4 Qutline of the Text 20 2 RIGID MOTIONS AND HOMOGENEOUS TRANSFORMATIONS 29 2.1 Representing Positions 29 2. 2 RepresenTing RotatiOns 31 2. 2. 1 Rotation in the plane 3 2.2.2 Rotations in three dimensions 34 2.3 Rotational Transformations 2.3.1 Summary 2.4 Composition of Rotations ..... 40 2.4.1 Rotation with respect to the current coordinate frame 2.4.2 Rotation with respect to a fixed fra.m 42 2.4.3 Summary 44 2.5 Parameterizations of rotations 45 5.1 Euler Angle 45 2.5.2 Roll, Pitch, Yaw angles 47 2.5.3 Axis/Angle Representation 2.6 Homogeneous Transformations] 51 CONTENTS 3 FORWARD KINEMATICS: THE DENAVIT-HARTENBERG CONVEN- 匚TIQN 57 3. 1 Kinematic Chains 57 3.2 Denavit Ilartenberg Representation 60 3.2.1 Existence and uniqueness issues 61 3.2.2 Assigning the coordinate frames 63 3.2.3 Summary 3. 3 Examples 67 在 IN VERSE KINEMATICS 4.1 The Gencral Invcrsc Kincmatics Problem 79 4.2 Kinematic Decoupling 81 4. 3 Inverse Position: A Geometric Approach 83 M. Inverse Orientation 89 5 VELOCITY KINEMATICS- THE MANIPULATOR JACOBIAN 95 5.1 Angular Velocity: The Fixed Axis Case 5.2 Skew Symmetric Matrices 7 5.3 Angular Velocity: The General Case 5.4 Addition of Angular Velocities .101 .5 Linear Velocity of a point Attached to a Moving Frame 102 5.6 Derivation of the Jacobian 103 5.6.1 Angular velocity 104 5.6.2 Linear velocity 104 5.7 Examples 109 5.8 The Analytical Jacobian 111 5. 9 Singularities 113 5.9.1 Decoupling of Singularities 114 5.9.2 Wrist Singularities 115 5.9.3 Arm Singularities 115 5. 10 Inverse Velocity and Acceleration 11 Redundant robots and manipula bility ..120 5.11.1 Redundant Manipulators 120 5.11.2 The Inverse Velocity Problem for Redundant Manipulators.....121 5.11.3 Singular Value Decomposition(SVD) 122 5.11. 4 Manipulability 124 6 COMPUTER VISION 127 6. 1 The Geometry of Image Formalion 127 6.1.1 Thc Camcra Coordinatc framc ..128 6.1.2 Perspective Projection 128 6.1.3 The Image Plane and the Sensor Array 129 6.2 Camera Calibration 130 CONTENTS 6.2.1 Extrinsic Canera paraneters 130 6.2.2 Intrinsic Ca amera parameters 131 6.2.3 Determining thc Camcra Paramctcrs ...,131 6.3 Segmentation by Thresholding 34 6.3.1 a Brief Statistics Review 134 6.3.2 Automatic Threshold Selection 136 Connected Components 140 Position and orientation 143 6.5.1 moments 6.5.2 The Centroid of an Object l44 6.5. 3 The Orientation of an Object 144 7 PATH PLANNING AND COLLISION AVOIDANCE 147 7.1 The Configuration Space 148 7.2 Path Planning using Configuration Space Potential Fields 151 7.2.1 Thc Attractivc Ficldl ,..152 7.2.2 The Repulsive field .153 2.3 Gradient Descent Planning 154 7.3 Planning Using Workspace Potential Fields 155 7.3. 1 Defining Workspace Potential Fields ..,156 7.3.2 Mapping workspace forccs to joint forces and torques 3.3 Motion Planning algorithm 162 7.4 Using Random Motions to Escape Local minima 163 5 Probabilistic Roadmap methods ,,,,164 7.5.1 Sampling the configuration space 165 7.5.2 Connecting Pairs of Configurations 165 7.5.3 Enhancement 167 5.4 Path Smoothing l67 6 Historical Perspective 168 8 TRAJECTORY PLANNING 169 8.1 The Trajectory Planning ProbleIn .169 8. 2 Trajectories for Point to Point motion 170 8.2.1 Cubic Polynomial Trajectories 172 8.2.2 Multiple cubics 8. 2. 3 Quintic Polynomial Trajectories 175 8.2.4 Liuear Segments with Parabolic Blends(LSPB) ..180 3.2 Minimum Time Trajectories I .183 8. 3 Trajcctorics for Paths Spccificd by Via Points] 185 8.3.1 1-3-1 trajectories 186 CONTENTS 9 DYNAMIC 187 9.1 Thc Eulcr-Lagrangc Equations 187 9.1.1 One Dimensional System 188 19. 1.2 The General Casel 190 9.2 General Expressions for Kinetic and Potential Energy 196 9.2.1 The inertia tensor .,197 9.2.2 Kinetic Energy for an n-Link Robot 198 9.2.3 Potential Energy for an n-Link Robot l99 9.3 Equations of Motion ...199 9. 4 Some ommon Configurations 201 9.5 Properties of Robot Dynamic Equations 210 9.5.1 The Skew Symmetry and Passivity Properties 211 9.5.2 Bounds on the inertia matrix ,,212 9.5.3 Linearity in the Parameters 213 9.6 Newton-Euler Formulation 214 9. 7 Planar Elbow Manipulator Revisited 221 10 INDEPENDENT JOINT CONTROL 225 10.1 Introduction 225 0.2 Actuator Dynamics 226 10.3 Set-Point Tracking 232 10.3.1 PD Compensator 233 10.3.2 Performance of PD Compensators 235 10.3.3 PID Compensator ...236 10.3.4 saturation 237 10.4 Feedforward Control and ComupuLed Torque] 238 10.5 Drive Train Dynamics I 242 11 MULTIVARIABLE CONTROL 247 11.1 Introduction 247 11.2 PD Control Revisited 11.3 Inverse Dyna mics ..250 11.3.1 Task Space Inverse Dynamics 253 11.4 Robust and Adaptive Motion Control 254 11.4.1 Robust Feedback Linearization 255 11.4.2 Passivity bascd robust Controll 259 11.4.3 Passivity Based adaptive Control 260 12 FORCE CONTROL 263 12. 1 Introduction ..263 12.2 Constrained Dynamics 264 12.2.1 Static Force/ Torque Relationships 9 12.2.2 Constraint Surfaces 267 CONTENTS 12.2.3 Nalural and Artificial Constraints] 270 12.3 Nctwork Models and Impedance 272 12.3.1 Impedance Operators ..273 12.3.2 Classification of Impedance Operators 274 12. 3. 3 Thevenin and Norton Equivalents 275 12.4 Force Control Stralegies .,,,,,,,,,,.275 12.4. 1 Impedance Control。.。 276 12.4.2 Hybrid Impedance control 277 13 FEEDBACK LINEARIZATION 281 13. 1 Introduction 281 13.2 Background: The Frobenius Theorem] 283 13.3 Single-Input Systems 287 13.4 Feedback Linearization for N-Link Robots 295 CONTENTS Chapter 1 INTRODUCTION 1.1 Robotics Robotics is a relatively young field of modern technology that crosses traditional engineer ing boundaries. Understanding the complexity of robots and their applications requires knowledge of electrical engineering, Inechanical engineering, systems and industrial engi- neering, computer science, economics, and mathematics. New disciplines of engineering, such as manufacturing engineering, applications engineering, and knowledge engineering have emerged to deal with the complexity of the field of robotics and factory automation. This book is concerned with fundamentals of robotics, including kinematics, dynam ics, motion planning, computer vision, and control. Our goal is lo provide a coinplete introduction to the most important concepts in these subjects as applicd to industrial robot manipulators The science of robotics has grown tremendously over the past twenty years, fueled by rapid advances in computer and sensor technology as well as theoretical advances in control and computer vision. In addition to the topics listed above, robotics encompasses several areas not covered in this text such as locomotion, including wheeled and legged robots Aying and swimming robots, grasping, artificial intelligence, computer architectures, programming Languages, and computer-aided design. A complete treatment of the discipline of robotics would require several volumes. Nevertheless, at the present time, the vast majority of robot applications deal with industrial robot arms operating in structured factory environments so that a first introduction to the subjcct of robotics must includc a rigorous trcatment of the topics in this text 1.2 History of Robotics The term robot was first introduced into our vocabulary by the Czech playwright Karel Capek in his 1920 play Rossum's Universal robots, the word robota being the Czech word for work. Since then the term has been applied to a great variety of mechanical devices, such as teleoperators, underwater vehicles, autonomous land rovers, etc. Virtually anything that CHAPTER 1. INTRODUCTION operales wilh some degree of autonony, usually under conputEr control, has al soine point bcen called a robot. In this text the term robot will mcan a computer controlled industrial manipulator of the type shown in Figure 1.1 This type of robot is essentially a mechanical arm operating under computer control. Such devices, though far from the robots of science fiction, are nevertheless extremely complex electro-mechanical systems whose analytical description requires advanced nethods, and which present many challenging and inlerestin rescarch problems Figure 1.1: The ABB IRB6600 Robot. Photo courtesy of ABB An official delinition of such a robot cones from the Robot Institute of America(RIA A robot is a reprogrammable multifunctional manipulator designcd to move matcrial, parts tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. The key element in the above definition is the reprogrammability of robots. It is the computer brain that gives the robot its utility and adaptability. The so-called robotics rovolution is, in fact, part of thc larger computer revolution Even this restricted version of a robot has several features that make it attractive in an industrial environment. Among the advantages often cited in favor of the introduction of robots are decreased labor costs, increased precision and productivitv, increased Hexi- bility compared with specialized machines, and more humane working conditions as dull ropctitivc, or hazardous jobs arc pcrformcd by robot The robot, as we have defined it, was born out of the marriage of two earlier technologies that of teleoperators and numerically controlled milling machines. Teleoperators or master-slave devices, were developed during the second world war to handle radioactive materials. Computer numerical control(CNC)was developed because of the high precision required in the machining of certain items, such as components of high performance aircraft The first robots essentially combined the mechanical linkages of the teleoperator with the autonomy and programmability of CNC machines. Several milestones on the road to present day robot technology are listed below. 【实例截图】
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