Fundamentals of robotic mechanical systems : theory, methods, and algorithms / 2nd ed.
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作 者：Jorge Angeles.
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ISBN：9780387953687
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简介
Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previousedition). This new edition has been revised and updated throughout to include these new
目录
Table Of Contents:
Series Preface vii
Preface to the Second Edition ix
Preface to the First Edition xi
An Overview of Robotic Mechanical Systems 1(18)
Introduction 1(2)
The General Structure of Robotic Mechanical Systems 3(3)
Serial Manipulators 6(2)
Parallel Manipulators 8(3)
Robotic Hands 11(2)
Walking Machines 13(2)
Rolling Robots 15(4)
Mathematical Background 19(52)
Preamble 19(1)
Linear Transformations 20(5)
Rigid-Body Rotations 25(22)
The Cross-Product Matrix 28(2)
The Rotation Matrix 30(4)
The Linear Invariants of a 3 x 3 Matrix 34(1)
The Linear Invariants of a Rotation 35(2)
Examples 37(6)
The Euler-Rodrigues Parameters 43(4)
Composition of Reflections and Rotations 47(1)
Coordinate Transformations and Homogeneous Coordinates 48(10)
Coordinate Transformations Between Frames with a Common Origin 49(3)
Coordinate Transformation with Origin Shift 52(2)
Homogeneous Coordinates 54(4)
Similarity Transformations 58(5)
Invariance Concepts 63(8)
Applications to Redundant Sensing 66(5)
Fundamentals of Rigid-Body Mechanics 71(34)
Introduction 71(1)
General Rigid-Body Motion and Its Associated Screw 72(11)
The Screw of a Rigid-Body Motion 74(2)
The Plucker Coordinates of a Line 76(4)
The Pose of a Rigid Body 80(3)
Rotation of a Rigid Body About a Fixed Point 83(1)
General Instantaneous Motion of a Rigid Body 84(7)
The Instant Screw of a Rigid-Body Motion 85(3)
The Twist of a Rigid Body 88(3)
Acceleration Analysis of Rigid-Body Motions 91(2)
Rigid-Body Motion Referred to Moving Coordinate Axes 93(2)
Static Analysis of Rigid Bodies 95(4)
Dynamics of Rigid Bodies 99(6)
Kinetostatics of Simple Robotic Manipulators 105(84)
Introduction 105(1)
The Denavit-Hartenberg Notation 106(7)
The Kinematics of Six-Revolute Manipulators 113(4)
The IKP of Decoupled Manipulators 117(21)
The Positioning Problem 118(15)
The Orientation Problem 133(5)
Velocity Analysis of Serial Manipulators 138(18)
Jacobian Evaluation 145(5)
Singularity Analysis of Decoupled Manipulators 150(2)
Manipulator Workspace 152(4)
Acceleration Analysis of Serial Manipulators 156(4)
Static Analysis of Serial Manipulators 160(2)
Planar Manipulators 162(9)
Displacement Analysis 163(2)
Velocity Analysis 165(3)
Acceleration Analysis 168(2)
Static Analysis 170(1)
Kinetostatic Performance Indices 171(18)
Positioning Manipulators 176(3)
Orienting Manipulators 179(1)
Positioning and Orienting Manipulators 180(9)
Trajectory Planning: Pick-and-Place Operations 189(22)
Introduction 189(1)
Background on PPO 190(2)
Polynomial Interpolation 192(7)
A 3-4-5 Interpolating Polynomial 192(4)
A 4-5-6-7 Interpolating Polynomial 196(3)
Cycloidal Motion 199(2)
Trajectories with Via Poses 201(1)
Synthesis of PPO Using Cubic Splines 202(9)
Dynamics of Serial Robotic Manipulators 211(62)
Introduction 211(1)
Inverse vs. Forward Dynamics 211(2)
Fundamentals of Multibody System Dynamics 213(10)
On Nomenclature and Basic Definitions 213(1)
The Euler-Lagrange Equations of Serial Manipulators 214(9)
Kane's Equations 223(1)
Recursive Inverse Dynamics 223(11)
Kinematics Computations: Outward Recursions 224(6)
Dynamics Computations: Inward Recursions 230(4)
The Natural Orthogonal Complement in Robot Dynamics 234(10)
Derivation of Constraint Equations and Twist-Shape Relations 240(4)
Noninertial Base Link 244(1)
Manipulator Forward Dynamics 244(24)
Planar Manipulators 248(13)
Algorithm Complexity 261(4)
Simulation 265(3)
Incorporation of Gravity Into the Dynamics Equations 268(1)
The Modeling of Dissipative Forces 269(4)
Special Topics in Rigid-Body Kinematics 273(14)
Introduction 273(1)
Computation of Angular Velocity from Point-Velocity Data 274(6)
Computation of Angular Acceleration from Point-Acceleration Data 280(7)
Kinematics of Complex Robotic Mechanical Systems 287(76)
Introduction 287(1)
The IKP of General Six-Revolute Manipulators 288(34)
Preliminaries 289(13)
The Bivariate-Equation Approach 302(2)
The Univariate-Polynomial Approach 304(9)
Numerical Conditioning of the Solutions 313(1)
Computation of the Remaining Joint Angles 314(3)
Examples 317(5)
Kinematics of Parallel Manipulators 322(21)
Velocity and Acceleration Analyses of Parallel Manipulators 337(6)
Multifingered Hands 343(5)
Walking Machines 348(4)
Rolling Robots 352(11)
Robots with Conventional Wheels 352(6)
Robots with Omnidirectional Wheels 358(5)
Trajectory Planning: Continuous-Path Operations 363(38)
Introduction 363(1)
Curve Geometry 364(6)
Parametric Path Representation 370(13)
Parametric Splines in Trajectory Planning 383(6)
Continuous-Path Tracking 389(12)
Dynamics of Complex Robotic Mechanical Systems 401(36)
Introduction 401(1)
Classification of Robotic Mechanical Systems with Regard to Dynamics 402(1)
The Structure of the Dynamics Models of Holonomic Systems 403(3)
Dynamics of Parallel Manipulators 406(11)
Dynamics of Rolling Robots 417(20)
Robots with Conventional Wheels 417(10)
Robots with Omnidirectional Wheels 427(10)
A Kinematics of Rotations: A Summary 437(8)
B The Numerical Solution of Linear Algebraic Systems 445(10)
The Overdetermined Case 446(5)
The Numerical Solution of an Overdetermined System of Linear Equations 447(4)
The Underdetermined Case 451(4)
The Numerical Solution of an Underdetermined System of Linear Equations 452(3)
Exercises 455(46)
An Overview of Robotic Mechanical Systems 455(2)
Mathematical Background 457(8)
Fundamentals of Rigid-Body Mechanics 465(6)
Kinetostatics of Simple Robotic Manipulators 471(7)
Trajectory Planning: Pick-and-Place Operations 478(3)
Dynamics of Serial Robotic Manipulators 481(6)
Special Topics on Rigid-Body Kinematics 487(3)
Kinematics of Complex Robotic Mechanical Systems 490(4)
Trajectory Planning: Continuous-Path Operations 494(4)
Dynamics of Complex Robotic Mechanical Systems 498(3)
References 501(14)
Index 515
Series Preface vii
Preface to the Second Edition ix
Preface to the First Edition xi
An Overview of Robotic Mechanical Systems 1(18)
Introduction 1(2)
The General Structure of Robotic Mechanical Systems 3(3)
Serial Manipulators 6(2)
Parallel Manipulators 8(3)
Robotic Hands 11(2)
Walking Machines 13(2)
Rolling Robots 15(4)
Mathematical Background 19(52)
Preamble 19(1)
Linear Transformations 20(5)
Rigid-Body Rotations 25(22)
The Cross-Product Matrix 28(2)
The Rotation Matrix 30(4)
The Linear Invariants of a 3 x 3 Matrix 34(1)
The Linear Invariants of a Rotation 35(2)
Examples 37(6)
The Euler-Rodrigues Parameters 43(4)
Composition of Reflections and Rotations 47(1)
Coordinate Transformations and Homogeneous Coordinates 48(10)
Coordinate Transformations Between Frames with a Common Origin 49(3)
Coordinate Transformation with Origin Shift 52(2)
Homogeneous Coordinates 54(4)
Similarity Transformations 58(5)
Invariance Concepts 63(8)
Applications to Redundant Sensing 66(5)
Fundamentals of Rigid-Body Mechanics 71(34)
Introduction 71(1)
General Rigid-Body Motion and Its Associated Screw 72(11)
The Screw of a Rigid-Body Motion 74(2)
The Plucker Coordinates of a Line 76(4)
The Pose of a Rigid Body 80(3)
Rotation of a Rigid Body About a Fixed Point 83(1)
General Instantaneous Motion of a Rigid Body 84(7)
The Instant Screw of a Rigid-Body Motion 85(3)
The Twist of a Rigid Body 88(3)
Acceleration Analysis of Rigid-Body Motions 91(2)
Rigid-Body Motion Referred to Moving Coordinate Axes 93(2)
Static Analysis of Rigid Bodies 95(4)
Dynamics of Rigid Bodies 99(6)
Kinetostatics of Simple Robotic Manipulators 105(84)
Introduction 105(1)
The Denavit-Hartenberg Notation 106(7)
The Kinematics of Six-Revolute Manipulators 113(4)
The IKP of Decoupled Manipulators 117(21)
The Positioning Problem 118(15)
The Orientation Problem 133(5)
Velocity Analysis of Serial Manipulators 138(18)
Jacobian Evaluation 145(5)
Singularity Analysis of Decoupled Manipulators 150(2)
Manipulator Workspace 152(4)
Acceleration Analysis of Serial Manipulators 156(4)
Static Analysis of Serial Manipulators 160(2)
Planar Manipulators 162(9)
Displacement Analysis 163(2)
Velocity Analysis 165(3)
Acceleration Analysis 168(2)
Static Analysis 170(1)
Kinetostatic Performance Indices 171(18)
Positioning Manipulators 176(3)
Orienting Manipulators 179(1)
Positioning and Orienting Manipulators 180(9)
Trajectory Planning: Pick-and-Place Operations 189(22)
Introduction 189(1)
Background on PPO 190(2)
Polynomial Interpolation 192(7)
A 3-4-5 Interpolating Polynomial 192(4)
A 4-5-6-7 Interpolating Polynomial 196(3)
Cycloidal Motion 199(2)
Trajectories with Via Poses 201(1)
Synthesis of PPO Using Cubic Splines 202(9)
Dynamics of Serial Robotic Manipulators 211(62)
Introduction 211(1)
Inverse vs. Forward Dynamics 211(2)
Fundamentals of Multibody System Dynamics 213(10)
On Nomenclature and Basic Definitions 213(1)
The Euler-Lagrange Equations of Serial Manipulators 214(9)
Kane's Equations 223(1)
Recursive Inverse Dynamics 223(11)
Kinematics Computations: Outward Recursions 224(6)
Dynamics Computations: Inward Recursions 230(4)
The Natural Orthogonal Complement in Robot Dynamics 234(10)
Derivation of Constraint Equations and Twist-Shape Relations 240(4)
Noninertial Base Link 244(1)
Manipulator Forward Dynamics 244(24)
Planar Manipulators 248(13)
Algorithm Complexity 261(4)
Simulation 265(3)
Incorporation of Gravity Into the Dynamics Equations 268(1)
The Modeling of Dissipative Forces 269(4)
Special Topics in Rigid-Body Kinematics 273(14)
Introduction 273(1)
Computation of Angular Velocity from Point-Velocity Data 274(6)
Computation of Angular Acceleration from Point-Acceleration Data 280(7)
Kinematics of Complex Robotic Mechanical Systems 287(76)
Introduction 287(1)
The IKP of General Six-Revolute Manipulators 288(34)
Preliminaries 289(13)
The Bivariate-Equation Approach 302(2)
The Univariate-Polynomial Approach 304(9)
Numerical Conditioning of the Solutions 313(1)
Computation of the Remaining Joint Angles 314(3)
Examples 317(5)
Kinematics of Parallel Manipulators 322(21)
Velocity and Acceleration Analyses of Parallel Manipulators 337(6)
Multifingered Hands 343(5)
Walking Machines 348(4)
Rolling Robots 352(11)
Robots with Conventional Wheels 352(6)
Robots with Omnidirectional Wheels 358(5)
Trajectory Planning: Continuous-Path Operations 363(38)
Introduction 363(1)
Curve Geometry 364(6)
Parametric Path Representation 370(13)
Parametric Splines in Trajectory Planning 383(6)
Continuous-Path Tracking 389(12)
Dynamics of Complex Robotic Mechanical Systems 401(36)
Introduction 401(1)
Classification of Robotic Mechanical Systems with Regard to Dynamics 402(1)
The Structure of the Dynamics Models of Holonomic Systems 403(3)
Dynamics of Parallel Manipulators 406(11)
Dynamics of Rolling Robots 417(20)
Robots with Conventional Wheels 417(10)
Robots with Omnidirectional Wheels 427(10)
A Kinematics of Rotations: A Summary 437(8)
B The Numerical Solution of Linear Algebraic Systems 445(10)
The Overdetermined Case 446(5)
The Numerical Solution of an Overdetermined System of Linear Equations 447(4)
The Underdetermined Case 451(4)
The Numerical Solution of an Underdetermined System of Linear Equations 452(3)
Exercises 455(46)
An Overview of Robotic Mechanical Systems 455(2)
Mathematical Background 457(8)
Fundamentals of Rigid-Body Mechanics 465(6)
Kinetostatics of Simple Robotic Manipulators 471(7)
Trajectory Planning: Pick-and-Place Operations 478(3)
Dynamics of Serial Robotic Manipulators 481(6)
Special Topics on Rigid-Body Kinematics 487(3)
Kinematics of Complex Robotic Mechanical Systems 490(4)
Trajectory Planning: Continuous-Path Operations 494(4)
Dynamics of Complex Robotic Mechanical Systems 498(3)
References 501(14)
Index 515
Fundamentals of robotic mechanical systems : theory, methods, and algorithms / 2nd ed.
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