robot_modeling_and_control[b]

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1、RobotModelingandControlFirstEditionMarkW.Spong,SethHutchinson,andM.VidyasagarJOHNWILEY&SONS,INC.NewYork/Chichester/Weinheim/Brisbane/Singapore/TorontoPrefaceTOAPPEARiContentsPrefaceiTABLEOFCONTENTSii1INTRODUCTION11.1MathematicalModelingofRobots31.1.1SymbolicRepresentationofRobots31.1.2TheCo

2、nfigurationSpace41.1.3TheStateSpace51.1.4TheWorkspace51.2RobotsasMechanicalDevices51.2.1ClassificationofRoboticManipulators51.2.2RoboticSystems71.2.3AccuracyandRepeatability71.2.4WristsandEnd-Effectors81.3CommonKinematicArrangementsofManipulators91.3.1Articulatedmanipulator(RRR)101.3.2Spherica

3、lManipulator(RRP)111.3.3SCARAManipulator(RRP)12iiiivCONTENTS1.3.4CylindricalManipulator(RPP)131.3.5Cartesianmanipulator(PPP)141.3.6ParallelManipulator151.4OutlineoftheText161.5ChapterSummary24Problems262RIGIDMOTIONSANDHOMOGENEOUSTRANSFORMATIONS292.1RepresentingPositions302.2RepresentingRota

4、tions322.2.1Rotationintheplane322.2.2Rotationsinthreedimensions352.3RotationalTransformations372.3.1SimilarityTransformations412.4CompositionofRotations422.4.1Rotationwithrespecttothecurrentframe422.4.2Rotationwithrespecttothefixedframe442.5ParameterizationsofRotations462.5.1EulerAngles472.5

5、.2Roll,Pitch,YawAngles492.5.3Axis/AngleRepresentation502.6RigidMotions532.7HomogeneousTransformations542.8ChapterSummary573FORWARDANDINVERSEKINEMATICS653.1KinematicChains653.2ForwardKinematics:TheDenavit-HartenbergConvention683.2.1Existenceanduniquenessissues693.2.2Assigningthecoordinatefra

6、mes723.2.3Examples753.3InverseKinematics853.3.1TheGeneralInverseKinematicsProblem853.3.2KinematicDecoupling873.3.3InversePosition:AGeometricApproach893.3.4InverseOrientation973.3.5Examples98CONTENTSv3.4ChapterSummary1003.5NotesandReferences102Problems1034VELOCITYKINEMATICS–THEMANIPULATORJAC

7、OBIAN1134.1AngularVelocity:TheFixedAxisCase1144.2SkewSymmetricMatrices1154.2.1PropertiesofSkewSymmetricMatrices1164.2.2TheDerivativeofaRotationMatrix1174.3AngularVelocity:TheGeneralCase1184.4AdditionofAngularVelocities1194.5LinearVelocityofaPointAttached