Robot Dynamics and Control

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1、RobotDynamicsandControlSecondEditionMarkW.Spong,SethHutchinson,andM.VidyasagarJanuary28,20042Contents1INTRODUCTION51.1Robotics.....................................51.2HistoryofRobotics...............................51.3ComponentsandStructureofRobots....

2、.................81.3.1SymbolicRepresentationofRobots...................81.3.2DegreesofFreedomandWorkspace..................91.3.3ClassificationofRobots.........................101.3.4CommonKinematicArrangements...................111.3.5RoboticSystems...

3、..........................151.3.6AccuracyandRepeatability......................161.3.7WristsandEnd-Effectors........................181.4OutlineoftheText...............................202RIGIDMOTIONSANDHOMOGENEOUSTRANSFORMATIONS292.1RepresentingPositions

4、.............................292.2RepresentingRotations.............................312.2.1Rotationintheplane..........................322.2.2Rotationsinthreedimensions......................342.3RotationalTransformations...........................362.3.

5、1Summary.................................402.4CompositionofRotations............................402.4.1Rotationwithrespecttothecurrentcoordinateframe........402.4.2Rotationwithrespecttoafixedframe.................422.4.3Summary...........................

6、......442.5ParameterizationsofRotations.........................452.5.1EulerAngles...............................452.5.2Roll,Pitch,YawAngles.........................472.5.3Axis/AngleRepresentation.......................482.6HomogeneousTransformations...

7、......................5134CONTENTS3FORWARDKINEMATICS:THEDENAVIT-HARTENBERGCONVEN-TION573.1KinematicChains................................573.2DenavitHartenbergRepresentation......................603.2.1Existenceanduniquenessissues....................613

8、.2.2Assigningthecoordinateframes....................633.2.3Summary.................................663.3Examples.....................................674INVERSEKINEMATICS794.1TheGeneralInverseKinematicsProblem...................79