Robot Modeling and Control - M. Vidyasagar

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Auteur(s) : M. Vidyasagar - Mark W. Spong - Seth Hutchinson

Editeur : John Wiley & Sons Inc

Langue : Anglais

Parution : 01/02/2020

Format : Moyen, de 350g à 1kg

Nombre de pages : 608.0

Expédition : 1549

ISBN : 1119523990

Résumé :

Preface v

1 Introduction 1

1.1 Mathematical Modeling of Robots 5

1.1.1 Symbolic Representation of Robot Manipulators 5

1.1.2 The Configuration Space 5

1.1.3 The State Space 6

1.1.4 The Workspace 7

1.2 Robots as Mechanical Devices 7

1.2.1 Classification of Robotic Manipulators 8

1.2.2 Robotic Systems 10

1.2.3 Accuracy and Repeatability 10

1.2.4 Wrists and End Effectors 12

1.3 Common Kinematic Arrangements 13

1.3.1 Articulated Manipulator (RRR) 13

1.3.2 Spherical Manipulator (RRP) 14

1.3.3 SCARA Manipulator (RRP) 14

1.3.4 Cylindrical Manipulator (RPP) 15

1.3.5 Cartesian Manipulator (PPP) 15

1.3.6 Parallel Manipulator 18

1.4 Outline of the Text 18

1.4.1 Manipulator Arms 18

1.4.2 Underactuated and Mobile Robots 27

Problems 27

Notes and References 29

I The Geometry of Robots 33

2 Rigid Motions 35

2.1 Representing Positions 36

2.2 Representing Rotations 38

2.2.1 Rotation in the Plane 38

2.2.2 Rotations in Three Dimensions 41

2.3 Rotational Transformations 44

2.4 Composition of Rotations 48

2.4.1 Rotation with Respect to the Current Frame 48

2.4.2 Rotation with Respect to the Fixed Frame 50

2.4.3 Rules for Composition of Rotations 51

2.5 Parameterizations of Rotations 52

2.5.1 Euler Angles 53

2.5.2 Roll, Pitch, Yaw Angles 55

2.5.3 Axis-Angle Representation 57

2.5.4 Exponential Coordinates 59

2.6 Rigid Motions 61

2.6.1 Homogeneous Transformations 62

2.6.2 Exponential Coordinates for General Rigid Motions 65

2.7 Chapter Summary 65

Problems 67

Notes and References 73

3 Forward Kinematics 75

3.1 Kinematic Chains 75

3.2 The Denavit-Hartenberg Convention 78

3.2.1 Existence and Uniqueness 80

3.2.2 Assigning the Coordinate Frames 83

3.3 Examples 87

3.3.1 Planar Elbow Manipulator 87

3.3.2 Three-Link Cylindrical Robot 89

3.3.3 The Spherical Wrist 90

3.3.4 Cylindrical Manipulator with Spherical Wrist 91

3.3.5 Stanford Manipulator 93

3.3.6 SCARA Manipulator 95

3.4 Chapter Summary 96

Problems 96

Notes and References 99

4 Velocity Kinematics 101

4.1 Angular Velocity: The Fixed Axis Case 102

4.2 Skew-Symmetric Matrices 103

4.2.1 Properties of Skew-Symmetric Matrices 104

4.2.2 The Derivative of a Rotation Matrix 105

4.3 Angular Velocity: The General Case 107

4.4 Addition of Angular Velocities 108

4.5 Linear Velocity of a Point Attached to a Moving Frame 110

4.6 Derivation of the Jacobian 111

4.6.1 Angular Velocity 112

4.6.2 Linear Velocity 113

4.6.3 Combining the Linear and Angular Velocity Jacobians 115

4.7 The Tool Velocity 119

4.8 The Analytical Jacobian 121

4.9 Singularities 122

4.9.1 Decoupling of Singularities 123

4.9.2 Wrist Singularities 125

4.9.3 Arm Singularities 125

4.10 Static Force/Torque Relationships 129

4.11 Inverse Velocity and Acceleration 131

4.12 Manipulability 133

4.13 Chapter Summary 136

Problems 138

Notes and References 140

5 Inverse Kinematics 141

5.1 The General Inverse Kinematics Problem 141

5.2 Kinematic Decoupling 143

5.3 Inverse Position: A Geometric Approach 145

5.3.1 Spherical Configuration 146

5.3.2 Articulated Configuration 148

5.4 Inverse Orientation 151

5.5 Numerical Inverse Kinematics 156

5.6 Chapter Summary 158

Problems 160

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Biographie:

MARK W. SPONG has been researching and teaching robotics for over 35 years. He currently serves as a Professor, Excellence in Education Chair, in the Department of Systems Engineering at the University of Texas at Dallas. He has been recognized for outstanding achievements including the John R. Ragazzini Award for Control Education and the IEEE RAS Pioneer in Robotics Award. He is currently a Fellow of both IEEE and IFAC.

SETH HUTCHINSON received his Ph.D. from Purdue University in 1988, and is currently Professor and KUKA Chair for Robotics in the School of Interactive Computing at the Georgia Institute of Technology, where he also serves as Executive Director of the Institute for Robotics and Intelligent Machines. He was the Founding Editor-in-Chief of the IEEE Robotics and Automation Society's Conference Editorial Board, Editor-in-Chief of the IEEE Transactions on Robotics, and is a Fellow of the IEEE. His research in robotics spans the areas of planning, sensing, and control.

MATHUKUMALLI VIDYASAGAR received his Ph.D. in electrical engineering in 1969 from the University of Wisconsin in Madison. During his fifty-year career, he has worked in control theory, machine learning, robotics and cancer biology. Among the many honors he has received are Fellowship in The Royal Society and the IEEE Control Systems Award. At present he is a Distinguished Professor at the Indian Institute of Technology Hyderabad....

Sommaire:

Preface v

1 Introduction 1

1.1 Mathematical Modeling of Robots 5

1.2 Robots as Mechanical Devices 7

1.3 Common Kinematic Arrangements 13

1.4 Outline of the Text 18

Problems 27

Notes and References 29

I The Geometry of Robots 33

2 Rigid Motions 35

2.1 Representing Positions 36

2.2 Representing Rotations 38

2.3 Rotational Transformations 44

2.4 Composition of Rotations 48

2.5 Parameterizations of Rotations 52

2.6 Rigid Motions 61

2.7 Chapter Summary 65

Problems 67

Notes and References 73

3 Forward Kinematics 75

3.1 Kinematic Chains 75

3.2 The Denavit-Hartenberg Convention 78

3.3 Examples 87

3.4 Chapter Summary 96

Problems 96

Notes and References 99

4 Velocity Kinematics 101

4.1 Angular Velocity: The Fixed Axis Case 102

4.2 Skew-Symmetric Matrices 103

4.3 Angular Velocity: The General Case 107

4.4 Addition of Angular Velocities 108

4.5 Linear Velocity of a Point Attached to a Moving Frame 110

4.6 Derivation of the Jacobian 111

4.7 The Tool Velocity 119

4.8 The Analytical Jacobian 121

4.9 Singularities 122

4.10 Static Force/Torque Relationships 129

4.11 Inverse Velocity and Acceleration 131

4.12 Manipulability 133

4.13 Chapter Summary 136

Problems 138

Notes and References 140

5 Inverse Kinematics 141

5.1 The General Inverse Kinematics Problem 141

5.2 Kinematic Decoupling 143

5.3 Inverse Position: A Geometric Approach 145

5.4 Inverse Orientation 151

5.5 Numerical Inverse Kinematics 156

5.6 Chapter Summary 158

Problems 160

Notes and References 162

II Dynamics and Motion Planning 163

6 Dynamics 165

6.1 The Euler-Lagrange Equations 166

6.2 Kinetic and Potential Energy 177

6.3 Equations of Motion 181

6.4 Some Common Configurations 184

6.5 Properties of Robot Dynamic Equations 194

6.6 Newton-Euler Formulation 198

6.7 Chapter Summary 209

Problems 211

Notes and References 214

7 Path and Trajectory Planning 215

7.1 The Configuration Space 216

7.2 Path Planning for Q = ?2 221

7.3 Artificial Potential Fields 229

7.4 Sampling-Based Methods 245

7.5 Trajectory Planning 252

7.6 Chapter Summary 263

Problems 265

Notes and References 267

III Control of Manipulators 269

8 Independent Joint Control 271

8.1 Introduction 271

8.2 Actuator Dynamics 273

8.3 Load Dynamics 276

8.4 Independent Joint Model 278

8.5 PID Control 281

8.6 Feedforward Control 288

8.7 Drive-Train Dynamics 292

8.8 State Space Design 297

8.9 Chapter Summary 304

Problems 307

Notes and References 309

9 Nonlinear and Multivariable Control 311

9.1 Introduction 311

9.2 PD Control Revisited 313

9.3 Inverse Dynamics 317

9.4 Passivity-Based Control 329

9.5 Torque Optimization 333

9.6 Chapter Summary 337

Problems 341

Notes and References 343

10 Force Control 345

10.1 Coordinate Frames and Constraints 347

10.2 Network Models and Impedance 351

10.3 Task Space Dynamics and Control 355

10.4 Chapter Summary 361

Problems 362

Notes and References 364

11 Vision-Based Control 365

11.1 Design Considerations 366

11.2 Computer Vision for Vision-Based Control 368

11.3 Camera Motion and the Interaction Ma...