实例介绍
【实例简介】
Modern_Robotics_Mechanics Planning and Control2017；现代机器人学之机械结构设计和轨迹控制；是机械臂学习的参考书籍
Contents Foreword by Roger Brockett Foreword by matthew Mason Preface 1 Preview 1 2 Configuration Space 11 2.1 Degrees of Freedom of a Rigid Body 2. 2 Degrees of Freedom of a Robot 15 2.2.1 Robot Joints 16 2.2.2 Gribler's formula 17 2.3 Configuration Space: Topology and Representation 23 2.3. 1 Configuration Space Topology 2.3.2 Configuration Space Representation 25 2.4 Configuration and Velocity Constraints 2.5 Task Space and Workspace 2.6 Summary 36 2.7 Notes and references 38 2. 8 Exercises 3 Rigid-Body Motions 59 3.1 Rigid-Body Motions in the Plane 3.2 Rotations and Angular velocities 68 3.2.1 Rotation matrices 68 3.2.2 Angular Velociti 76 3.2.3 Exponential Coordinate Representation of Rotation 79 3.3 Rigid- Body Motions and Twists .89 Contents 3.3. 1 Homogeneous Transformation Matrices 89 3.3.2 Twist 3.3.3 Exponential Coordinate Representation of Rigid-Body Mo- tions 104 3.4 Wrenches 108 3.5 Summary 111 3. 6 Software 3.7 Notes and references 115 3.8 Exercise 116 4 Forward Kinematics 137 4.1 Product of Exponentials Forillul 140 4.1.1 First Formulation: Screw Axes in the base frame 141 4.1.2 Examples 4.1.3 Second Formulation: Screw Axes in the End-Effector Frame 148 4.2 The Universal Robot Description Format 152 4.3 Summary 158 4.4 Software .159 4.5 Notes alld 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 Ja conlan 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 18 5.1.6 Looking Ahcad to Invcrsc Vclocity Kincmatics ...... 189 5.2 Statics of Open chains 190 5.3 Singularity Analysis 191 5. 4 Manipu lability 196 5.5 Summary 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 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 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 6.4 A Note on Closed Loops 234 6.5 Summary 235 6.6 Software 6.7 Notes and References 36 6.8 Exercises 236 7 Kinematics of closed Chains 245 7. 1 Iverse and Forward Killenlatics 247 7.1.1 3xRPR 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 7. 2.2 General Parallel Mechanisms 254 7. 3 Singularities 7.4 Summary 261 7.5 Notes and Rcfcrcnccs 262 7.6 Exercises 263 8 Dynamics of Open Chains 271 8.1 Lagrangian Formulation 272 8.1.1 Basic Concepts and Motivating Examples 27 8.1.2 General Formulation 8.1.3 Understanding the Mass Matrix 8.1. 4 Lagrangian Dynamics vs. Ncwton-Eulcr Dynamics.... 281 8.2 Dynamics of a Single Rigid Body 283 8.2.1 Classical formulation 283 8.2.2 Twist-Wrench Formulation 2.3 Dynamics in Other frames ...290 8.3 Newton-Euler Inverse Dynamics 291 8.3.1 Derivatie 8.3.2 Newton-Euler Inverse Dynamics Algorithm 294 8.4 Dyllalnic Equations in Closed ForIn 294 8.5 Forward Dynamics of Open Chains 8.6 Dynamics in the Task Space .,,,300 8.7 Constrained dynamics ,,,,,301 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 8. 8 Robot dynamics in the urde 303 8.9 Actuation, Gearing, and Friction 30:3 8.9.1 DC Motors and Gearing 305 8.9.2 Apparent Inertia .310 8.9.3 Newton-Euler Inverse Dynamics Algorithm Accounting for Motor Inertias and Gearing 312 8.9.4 Friction 8.9.5 Joint, and Link Flexibility 314 8.10 Summary 315 8.11 Software 319 8. 12 Notes and references ....320 13 Exercises 21 9 Trajectory Generation 325 9. 1 Definitions .,,,325 9.2 Point-to-Point Trajectories ,,326 9.2.1 Straight-Line Paths 326 9.2.2 Time Scaling a Straight-Line Path 328 9.3 PolynOmial Via Point Trajectories 334 9.4 Time-Optimal Time Scaling 3:36 9.4.1 Thc (s, 5) Phasc Planc 9.4.2 The Time-Scaling Algorithm 341 9.4.3 A Variation on the Time-Scaling Algorithm 9.4.4 Assumptions and Caveats 344 9.5 Summary 9. 6 Software 346 9. 7 Notes and references 347 9.8 Exercises 10 Motion Planning 353 10.1 Overview of motion plannin 353 10.1.1 Types of Motion Planning Problems ..354 10.1.2 Properties of Motion Planners 10.1.3 Motion Planning methods 356 10.2 Foundations 10.2. 1 Configuration Space Obstacles 358 10.2.2 Distance to Obstacles anld Collision Detection 362 10.2.3 Graphs and Trees 364 10.2.4 Graph Search 365 10.3 Complete Path Planners May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 10.4 Grid Methods 10.4.1 Multi-Resolution Grid Representation 37 10.4.2 Grid Methods with Motion Constraints 373 10.5 Sampling Methods .378 10.5.1 The RrT Algorithm 379 10.5.2 The PRM Algorithm .,,,384 10.6 Virtual Potential Field 386 10.6.1 A Point in C-space 386 10.6.2 Navigation Functions 389 10.6.3 Workspace Potential 390 10.6.4 Wheeled mobile robots 391 10.6.5 Use of potential fields in planners 02 10.7 Nonlinear Optimization 392 10.8 Smoothing 394 10.9 Summary 394 10.10Notes and References 397 10.11 Exercises .:98 11 Robot Control 403 11. 1 Control System Overview 404 11.2 Error Dynamics 405 11.2.1 Error Response 406 11.2.2 Linear Error Dynamics 406 11.3 Motion Control with Velocity Inputs 413 11.3.1 Motion Control of a Single Joint 414 11.3.2 Motion Control of a Multi-joint Robot 418 11.3.3 Task-Space Motion Cont 419 11.4 Motion Control with Torque or Force Inputs 420 11.4. 1 Motion Control of a Single Joint ,,,,,,,,421 11.4.2 Motion Control of a Multi-joint Robot 429 11.4.3 Task-Space Motion Control 11.5 Force Control 434 11.6 Hybrid Motion-Force Control ,,437 11.6.1 Natural and artificial Constraints .437 11.6.2 A Hybrid Motion-Force controlle 439 11.7 Impedance Control 441 11.7.1 Impedance-Control Algorithm 11.7.2 Admittancc-Control Algorithm ..444 11.8 Low-Level Joint Force/Torque Coltrol 445 11.9 Other To 44 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 11.10Summary 449 11.11Soft 451 11.12 Notes and References 452 11. 13Exercises .453 12 Grasping and manipulation 461 12.1 Contact Kinematics 12.1.2 Contact Types: Rolling, Sliding, and Breaking Free,,..46.3 12.1.1 First-Order Analysis of a Single Contact 465 12.1.3 Multiple Contacts 468 12.1. 4 Collecti of bodi 472 12. 1.5 Other Types of Contacts 472 12.1.6 Planar Graphical Methods 473 12.1.7 Form Closure 78 12.2 Contact Forces and Friction 12.2.1 Friction 12.2.2 Planar Graphical Methods 487 12.2.3 Force Closure 12.2.4 Duality of Force anld Motion FreedoMs 494 12.3 Manipulation 494 12.4 Summary 50 12.5 Notes and References 12.6 Exercises 1 3 Wheeled mobile robots 513 13.1 Types of Wheeled Mobile robots 514 13.2 Omnidirectional Wheeled Mobile robots 515 13.2.1 Modeling 515 13.2.2 Motion planning 520 13.2.3 Feedback Control 520 13. 3 Nonholonomic wheeled mobile robots 520 13.3.1 Modeling 521 13.3.2 Controllability 528 13.3.3 Motion planning 537 13.3.4 Feedback Control 542 13.4 Odometry 546 13.5 Mobile manipulation 548 13.6Su 552 13. 7 Notes and References 554 13.8 Exercises May2017preprintofModernRobotics,LynchandPark,CambridgeU.prEss,2017.http://modernrobotics.org Contents a Summary of Useful Formulas 565 B Other Representations of Rotations 575 B. 1 Euler Anglo 575 B.1.1 AlgorithIn for CoInputing the ZYX Euler Angles 577 B.1.2 Other Euler Angle Representations 577 B 2 Roll-Pitch-Yaw Angles 580 B 3 Unit Quaternions 581 B 4 Cavley-Rodrigues Parameters C Denavit-Hartenberg Parameters 585 C 1 Assigning Link Frames C 2 Why Four Parameters are Sufficient C3 Manipulator Forward Kinematics 590 C 4 Examples 591 C5 Relation Between the PoE and d-H Representations 593 C.6 A Final Comparison 595 D Optimization and Lagrange Multipliers 597 Bibliography 599 ndex 617 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press,2017.http://modernrobotics.org 【实例截图】
【核心代码】
Modern_Robotics_Mechanics Planning and Control2017；现代机器人学之机械结构设计和轨迹控制；是机械臂学习的参考书籍
Contents Foreword by Roger Brockett Foreword by matthew Mason Preface 1 Preview 1 2 Configuration Space 11 2.1 Degrees of Freedom of a Rigid Body 2. 2 Degrees of Freedom of a Robot 15 2.2.1 Robot Joints 16 2.2.2 Gribler's formula 17 2.3 Configuration Space: Topology and Representation 23 2.3. 1 Configuration Space Topology 2.3.2 Configuration Space Representation 25 2.4 Configuration and Velocity Constraints 2.5 Task Space and Workspace 2.6 Summary 36 2.7 Notes and references 38 2. 8 Exercises 3 Rigid-Body Motions 59 3.1 Rigid-Body Motions in the Plane 3.2 Rotations and Angular velocities 68 3.2.1 Rotation matrices 68 3.2.2 Angular Velociti 76 3.2.3 Exponential Coordinate Representation of Rotation 79 3.3 Rigid- Body Motions and Twists .89 Contents 3.3. 1 Homogeneous Transformation Matrices 89 3.3.2 Twist 3.3.3 Exponential Coordinate Representation of Rigid-Body Mo- tions 104 3.4 Wrenches 108 3.5 Summary 111 3. 6 Software 3.7 Notes and references 115 3.8 Exercise 116 4 Forward Kinematics 137 4.1 Product of Exponentials Forillul 140 4.1.1 First Formulation: Screw Axes in the base frame 141 4.1.2 Examples 4.1.3 Second Formulation: Screw Axes in the End-Effector Frame 148 4.2 The Universal Robot Description Format 152 4.3 Summary 158 4.4 Software .159 4.5 Notes alld 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 Ja conlan 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 18 5.1.6 Looking Ahcad to Invcrsc Vclocity Kincmatics ...... 189 5.2 Statics of Open chains 190 5.3 Singularity Analysis 191 5. 4 Manipu lability 196 5.5 Summary 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 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 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 6.4 A Note on Closed Loops 234 6.5 Summary 235 6.6 Software 6.7 Notes and References 36 6.8 Exercises 236 7 Kinematics of closed Chains 245 7. 1 Iverse and Forward Killenlatics 247 7.1.1 3xRPR 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 7. 2.2 General Parallel Mechanisms 254 7. 3 Singularities 7.4 Summary 261 7.5 Notes and Rcfcrcnccs 262 7.6 Exercises 263 8 Dynamics of Open Chains 271 8.1 Lagrangian Formulation 272 8.1.1 Basic Concepts and Motivating Examples 27 8.1.2 General Formulation 8.1.3 Understanding the Mass Matrix 8.1. 4 Lagrangian Dynamics vs. Ncwton-Eulcr Dynamics.... 281 8.2 Dynamics of a Single Rigid Body 283 8.2.1 Classical formulation 283 8.2.2 Twist-Wrench Formulation 2.3 Dynamics in Other frames ...290 8.3 Newton-Euler Inverse Dynamics 291 8.3.1 Derivatie 8.3.2 Newton-Euler Inverse Dynamics Algorithm 294 8.4 Dyllalnic Equations in Closed ForIn 294 8.5 Forward Dynamics of Open Chains 8.6 Dynamics in the Task Space .,,,300 8.7 Constrained dynamics ,,,,,301 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 8. 8 Robot dynamics in the urde 303 8.9 Actuation, Gearing, and Friction 30:3 8.9.1 DC Motors and Gearing 305 8.9.2 Apparent Inertia .310 8.9.3 Newton-Euler Inverse Dynamics Algorithm Accounting for Motor Inertias and Gearing 312 8.9.4 Friction 8.9.5 Joint, and Link Flexibility 314 8.10 Summary 315 8.11 Software 319 8. 12 Notes and references ....320 13 Exercises 21 9 Trajectory Generation 325 9. 1 Definitions .,,,325 9.2 Point-to-Point Trajectories ,,326 9.2.1 Straight-Line Paths 326 9.2.2 Time Scaling a Straight-Line Path 328 9.3 PolynOmial Via Point Trajectories 334 9.4 Time-Optimal Time Scaling 3:36 9.4.1 Thc (s, 5) Phasc Planc 9.4.2 The Time-Scaling Algorithm 341 9.4.3 A Variation on the Time-Scaling Algorithm 9.4.4 Assumptions and Caveats 344 9.5 Summary 9. 6 Software 346 9. 7 Notes and references 347 9.8 Exercises 10 Motion Planning 353 10.1 Overview of motion plannin 353 10.1.1 Types of Motion Planning Problems ..354 10.1.2 Properties of Motion Planners 10.1.3 Motion Planning methods 356 10.2 Foundations 10.2. 1 Configuration Space Obstacles 358 10.2.2 Distance to Obstacles anld Collision Detection 362 10.2.3 Graphs and Trees 364 10.2.4 Graph Search 365 10.3 Complete Path Planners May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 10.4 Grid Methods 10.4.1 Multi-Resolution Grid Representation 37 10.4.2 Grid Methods with Motion Constraints 373 10.5 Sampling Methods .378 10.5.1 The RrT Algorithm 379 10.5.2 The PRM Algorithm .,,,384 10.6 Virtual Potential Field 386 10.6.1 A Point in C-space 386 10.6.2 Navigation Functions 389 10.6.3 Workspace Potential 390 10.6.4 Wheeled mobile robots 391 10.6.5 Use of potential fields in planners 02 10.7 Nonlinear Optimization 392 10.8 Smoothing 394 10.9 Summary 394 10.10Notes and References 397 10.11 Exercises .:98 11 Robot Control 403 11. 1 Control System Overview 404 11.2 Error Dynamics 405 11.2.1 Error Response 406 11.2.2 Linear Error Dynamics 406 11.3 Motion Control with Velocity Inputs 413 11.3.1 Motion Control of a Single Joint 414 11.3.2 Motion Control of a Multi-joint Robot 418 11.3.3 Task-Space Motion Cont 419 11.4 Motion Control with Torque or Force Inputs 420 11.4. 1 Motion Control of a Single Joint ,,,,,,,,421 11.4.2 Motion Control of a Multi-joint Robot 429 11.4.3 Task-Space Motion Control 11.5 Force Control 434 11.6 Hybrid Motion-Force Control ,,437 11.6.1 Natural and artificial Constraints .437 11.6.2 A Hybrid Motion-Force controlle 439 11.7 Impedance Control 441 11.7.1 Impedance-Control Algorithm 11.7.2 Admittancc-Control Algorithm ..444 11.8 Low-Level Joint Force/Torque Coltrol 445 11.9 Other To 44 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents 11.10Summary 449 11.11Soft 451 11.12 Notes and References 452 11. 13Exercises .453 12 Grasping and manipulation 461 12.1 Contact Kinematics 12.1.2 Contact Types: Rolling, Sliding, and Breaking Free,,..46.3 12.1.1 First-Order Analysis of a Single Contact 465 12.1.3 Multiple Contacts 468 12.1. 4 Collecti of bodi 472 12. 1.5 Other Types of Contacts 472 12.1.6 Planar Graphical Methods 473 12.1.7 Form Closure 78 12.2 Contact Forces and Friction 12.2.1 Friction 12.2.2 Planar Graphical Methods 487 12.2.3 Force Closure 12.2.4 Duality of Force anld Motion FreedoMs 494 12.3 Manipulation 494 12.4 Summary 50 12.5 Notes and References 12.6 Exercises 1 3 Wheeled mobile robots 513 13.1 Types of Wheeled Mobile robots 514 13.2 Omnidirectional Wheeled Mobile robots 515 13.2.1 Modeling 515 13.2.2 Motion planning 520 13.2.3 Feedback Control 520 13. 3 Nonholonomic wheeled mobile robots 520 13.3.1 Modeling 521 13.3.2 Controllability 528 13.3.3 Motion planning 537 13.3.4 Feedback Control 542 13.4 Odometry 546 13.5 Mobile manipulation 548 13.6Su 552 13. 7 Notes and References 554 13.8 Exercises May2017preprintofModernRobotics,LynchandPark,CambridgeU.prEss,2017.http://modernrobotics.org Contents a Summary of Useful Formulas 565 B Other Representations of Rotations 575 B. 1 Euler Anglo 575 B.1.1 AlgorithIn for CoInputing the ZYX Euler Angles 577 B.1.2 Other Euler Angle Representations 577 B 2 Roll-Pitch-Yaw Angles 580 B 3 Unit Quaternions 581 B 4 Cavley-Rodrigues Parameters C Denavit-Hartenberg Parameters 585 C 1 Assigning Link Frames C 2 Why Four Parameters are Sufficient C3 Manipulator Forward Kinematics 590 C 4 Examples 591 C5 Relation Between the PoE and d-H Representations 593 C.6 A Final Comparison 595 D Optimization and Lagrange Multipliers 597 Bibliography 599 ndex 617 May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press2017.http://modernrobotics.org Contents May2017preprintofModernRoboticsLynchandPark,cAmbridgeU.Press,2017.http://modernrobotics.org 【实例截图】
【核心代码】
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