应用机器人学.pdf

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Theory of Applied Robotics - Kinematics, Dynamics, and Control, 2ndEd
Reza n. jazar Theory of applied robotics Kinematics Dynamics, and control Second edition ② Springer Prof reza n jazar School of Aerospace, Mechanical, and Manufacturing Engineering RMIT University Melbourne. victoria australia reza. rezajazar@rmit. edu.au ISBN978-1-4419-17492 e-ISBN978-1-4419-1750-8 DOI10.1007978-1-44191750-8 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2010926033 Springer Science+Business Media, LLC 2006, 2010 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher(Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights Cover illustration C Konstantin Inozemtsev inted on acid-free paper SpringerispartofSpringerScience+businessMedia(www.springer.com) Dedicated to my wife Mo 79 and our children nd I am Cyrus, king of the world, great king, mighty king king of Babylon, king of Sumer and Akkad, king of the four quarters I ordered to write books, many books, books to teach my people, I ordered to make schools, many schools, to educate my people Marduk, the lord of the gods, said burning books is the greatest sin I, Cyrus, and my people, and my army will protect books and schools hey will fight whoever burns books and burns schools, the great sin Cyrus the great Preface to the second edition The second edition of this book would not have been possible without the comments and suggestions from my students, especially those at Columbia university. many of the new topics introduced here are a direct result of student feedback that helped me refine and clarify the material My intention when writing this book was to develop material that I would have liked to had available as a student. Hopefully, I have succeeded in developing a reference that covers all aspects of robotics with sufficient detail and explanation The first edition of this book was published in 2007 and soon after its publication it became a very popular reference in the field of robotics. I wish to thank the many students and instructors who have used the book or referenced it. Your questions, comments and suggestions have helped me create the second edition Preface This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics dynamics and control of robotic systems The subject of robotics may appear overdosed by the number of available texts because the field has been growing rapidly since 1970. However, the topic remains alive with modern developments, which are closely related to the classical material. It is evident that no single text can cover the vast scope of classical and modern materials in robotics. Thus the demand for new books arises because the field continues to progress. Another factor is the trend toward analytical unification of kinematics, dynamics, and control Classical kinematics and dynamics of robots has its roots in the work of great scientists of the past four centuries who established the methodology and understanding of the behavior of dynamic systems. The development of dynamic science, since the beginning of the twentieth century, has moved toward analysis of controllable man-made systems. Therefore, merging the kinematics and dynamics with control theory is the expected development for robotic analysis The other important development is the fast growing capability of ac curate and rapid numerical calculations, along with intelligent computer programming Level of the book This book has evolved from nearly a decade of research in nonlinear dynamic systems, and teaching undergraduate-graduate level courses in robotics. It is addressed primarily to the last year of undergraduate stud and the first year graduate student in engineering. Hence, it is an interme diate textbook. This book can even be the first exposure to topics in spa tial kinematics and dynamics of mechanical systems. Therefore, it provides both fundamental and advanced topics on the kinematics and dynamics of robots. The whole book can be covered in two successive courses however it is possible to jump over some sections and cover the book in one course The students are required to know the fundamentals of kinematics and dynamics, as well as a basic knowledge of numerical methods Preface The contents of the book have been kept at a fairly theoretical-practical level. Many concepts are deeply explained and their use emphasized, and most of the related theory and formal proofs have been explained. Through- out the book, a strong emphasis is put on the physical meaning of the con cepts introduced. Topics that have been selected are of high interest in the field. An attempt has been made to expose the students to a broad range of topics and approaches Organization of the book The text is organized so it can be used for teaching or for self-study Chapter 1" Introduction, contains general preliminaries with a brief review of the historical development and classification of robots Part I"Kinematics, presents the forward and inverse kinematics of robots. Kinematics analysis refers to position, velocity, and acceleration analysis of robots in both joint and base coordinate spaces. It establishes kinematic relations among the end-effecter and the joint variables. The thod of Denavit-Hartenberg for representing body coordinate frames is introduced and utilized for forward kinematics analysis. The concept of modular treatment of robots is well covered to show how we may combine simple links to make the forward kinematics of a complex robot. For inverse kinematics analysis, the idea of decoupling, the inverse matrix method, and the iterative technique are introduced. It is shown that the presence of a spherical wrist is what we need to apply analytic methods in inverse kine- matIcs Part II"Dynamics, presents a detailed discussion of robot dynamics An attempt is made to review the basic approaches and demonstrate how these can be adapted for the active displacement framework utilized for robot kinematics in the earlier chapters. The concepts of the recursive ewton-Euler dynamics, Lagrangian function, manipulator inertia matrix, and generalized forces are introduced and applied for derivation of dynamic equations of motion Part III"Control, presents the floating time technique for time-optimal control of robots. The outcome of the technique is applied for an open loop control algorithm. Then, a computed-torque method is introduced, in which a combination of feedforward and feedback signals are utilized to render the system error dynamics Method of presentation The structure of presentation is in a fact-reason-application"fashion The fact is the main subject we introduce in each section. Then the reason is given as a proof. Finally the application of the fact is examined in some examples. The examples"are a very important part of the book because they show how to implement the knowledge introduced in"facts They also cover some other facts that are needed to expand the subject Preface xi Prerequisites Since the book is written for senior undergraduate and first-year graduate level students of engineering, the assumption is that users are familiar with matrix algebra as well as basic feedback control. Prerequisites for readers of this book consist of the fundamentals of kinematics, dynamics, vector analysis, and matrix theory. These basics are usually taught in the first three undergraduate years Unit System The system of units adopted in this book is, unless otherwise stated the international system of units(SI). The units of degree(deg)or radian (rad)are utilized for variables representing angular quantities Symbols Lowercase bold letters indicate a vector. Vectors may be expressed in an n dimensional Euclidian space. Example r p ∈ 6 Uppercase bold letters indicate a dynamic vector or a dynamic ma- trix. Example F . Lowercase letters with a hat indicate a unit vector. Unit vectors are not bolded. Example Ⅰ.J,K Lowercase letters with a tilde indicate a 3 x 3 skew symmetric matrix associated to a vector. Example 0 1 a An arrow above two uppercase letters indicates the start and end points of a position vector. Example N=a position vector from point o to point N 【实例截图】
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