机器人学导论分析解析

教材：•JohnJ.Craig.IntroductiontoRobotics:MechanicsandControl(3rded).PearsonPrenticeHall.2005.参考资料：•[美]SaeedB.Niku著,孙福春等译.机器人学导论——分析、系统及应用(第2版)(原书:IntroductiontoRobotics:Analysis,Systems,Applications).电子工业出版社.2013.•蔡自兴,谢斌.机器人学(第3版).清华大学出版社.2015.•谭民,徐德等.先进机器人控制.高等教育出版社.2007.•比较知名的刊登机器人方面研究成果的期刊：《AdvancedRobotics》，《AutonomousRobots》,《JournalofRoboticSystem》，《机器人》，《自动化学报》，《机器人技术与应用》，《控制理论与应用》。•MATLAB的Robotics工具箱(byPeterI.Corke)：上课形式（全日制硕士-全英；在职工硕-双语）：讲授20学时、实验12学时。考核（全日制硕士-全英；在职工硕-双语）：仿真作业，实验报告，课程论文（综述）。Chapter1IntroductionArudimentofmanipulatorWhatdoesarobotlooklikeinyourmind？Definitionsofrobots:Definition1:Arobotisamechanicalorvirtualartificialagent,usuallyanelectro-mechanicalmachinethatisguidedbyacomputerprogramorelectroniccircuitry.(fromWikipedia)Definition2:Anautomaticallycontrolled,reprogrammable,multipurposemanipulator,whichmaybeeitherfixedinplaceormobileforuseinindustrialautomationapplications.(fromInternationalOrganizationforStandardization(ISO))Definition3:Areprogrammable,multifunctionalmanipulatordesignedtomovematerial,parts,tools,orspecializeddevicesthroughvariousprogrammedmotionsfortheperformanceofavarietyoftasks.(fromRobotInstituteofAmerica(RIA))Summary:Thereisnoconsensusonwhichmachinesqualifyasrobotsbutthereisgeneralagreementamongexperts,andthepublic,thatrobotstendtodosomeorallofthefollowing:acceptelectronicprogramming,processdataorphysicalperceptionselectronically,operateautonomouslytosomedegree,movearound,operatephysicalpartsofitselforphysicalprocesses,senseandmanipulatetheirenvironment,andexhibitintelligentbehavior—especiallybehaviorwhichmimicshumansorotheranimals.(fromWikipedia)1.1BACKGROUNDYearlyinstallationsofmultipurposeindustrialrobotsfor1995-2000andforecastsfor2001-2004Robotpricescomparedwithhumanlaborcostsinthe1990sCategoriesofrobot:Accordingtoactuatortypes:•Electricalactuators•Hydraulicactuators•Pneumaticactuators•Others:piezoactuators,shapememoryalloy(SMA),magnetostrictiveactuatorsAccordingtointelligencelevels:•Normalrobots:onlyprogrammable•Intelligentrobots:somekindofartificialintelligenceAccordingtomoveability：•Fixedrobots:thebaseisfixed,whilethejointsaremoveable•Mobilerobots:wheel,pedrail,legged(single,double,four,six,eight)accordtoapplicationfields:Therobottypeofourcourse:industrialrobots(roboticarms,manipulators)robotsIndustrialrobotsSpecializedrobotsServicerobotsUnderwaterrobotsMilitaryrobotsAgriculturalrobotsRobotizedmachineHumanoidrobotsEntertainmentrobotsAerospacerobotsMicrorobotsMedicalrobotsAccordingtodesignsofthefirstthreejoints:CartesianSphericalCylindricalArticulatedSCARA(Manipulatorstructure:Positioningstructure+orientingstructureorwrist)Topics：•Lectures:Descriptionofpositionandorientation(Chapter2)Forwardkinematicsofmanipulators(Chapter3)Inversekinematicsofmanipulators(Chapter4)Velocities,staticforces,singularities(Chapter5)Dynamics(Chapter6)Trajectorygeneration(Chapter7)Manipulatordesignandsensors(Chapter8)Linearpositioncontrol(Chapter9)Nonlinearpositioncontrol(Chapter10)•Experiments:ProgrammingrobotsandOff-lineprogrammingandsimulation(Chapter12&13)Descriptionofpositionandorientation(Chapter2)Inordertodescribethepositionandorientationofabodyinspace,wewillalwaysattachacoordinatesystem,orframe,rigidlytotheobject.Wethenproceedtodescribethepositionandorientationofthisframewithrespecttosomereferencecoordinatesystem.Anyframecanserveasareferencesystem,soweoftenthinkoftransformingorchangingthisdescriptionfromoneframetoanother.Forwardkinematicsofmanipulators(Chapter3)Kinematicsisthescienceofmotionthattreatsmotionwithoutregardtotheforceswhichcauseit.e.g.position,velocity,accelerationandallhigherorderderivativesofthepositionvariables.Structureofamanipulatorparts:nearlyrigidlinksconnection:byjoints(rotaryorrevolutejoints,slidingorprismaticjoints)jointvariables:•jointangles(revolutejoints)•jointoffset(prismaticjoints)Forwardkinematicsofmanipulators:Givenasetofjointvariables,tocomputethepositionandorientationofthetoolframerelativetothebaseframe.inotherwords,tochangetherepresentationofmanipulatorpositionfromajointspacedescriptionintoaCartesianspacedescription.Attachedtotheend-effectorAttachedtothebaseDegreeOfFreedom(DOF):Inmanyscientificfields,thedegreesoffreedomofasystemisthenumberofparametersofthesystemthatmayvaryindependently.(fromWikipedia)Forexample:•ApointintheplanehastwoDOFfortranslation:itstwocoordinates.•ArigidbodyontheplanehasthreeDOF:itstwocoordinatesanditsorientation.•ArigidbodyinspacehassixDOF:threetranslationandthreerevolution.ThenumberofDOFthatamanipulatorprocessesisthenumberofindependentpositionvariablesthatwouldhavetobespecifiedinordertolocateallpartsofthemechanism.Keyword:independentForexample,four-barlinkagehasonlyoneDOF(eventhoughtherearethreemovingmembers)Atypicalindustrialrobotisusuallyanopenkinematicchain,andeachjointpositionisdefinedwithasinglevariable,sothenumberofjointsequalsthenumberofDOF.3自由度5自由度5个自由度（2个冗余自由度）4个自由度，若要空间内在任何方向上定向，需另外2个自由度Inversekinematicsofmanipulators(Chapter4)Problem:giventhepositionandorientation