Rigid Manipulators--Modelling建模--位姿描述

最新推荐文章于 2023-05-08 14:34:11 发布

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最新推荐文章于 2023-05-08 14:34:11 发布

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分类专栏：机器人

本文链接：https://blog.csdn.net/explore_me/article/details/80249399

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机器人的位姿：
位置：末端执行器在操作空间坐标系的位置，通常用一个向量表示
姿态：末端执行器的朝向，即相对于操作空间坐标系的旋转，通常用一个旋转矩阵表示

操作空间坐标系通常是固定的，因此决定机器人位姿的关键是找到从操作空间坐标系到末端执行器坐标系的坐标系变换

一、Translation and Linear Velocity平移与线速度

1.平移：坐标系B相对于坐标系A原点的位移

A r A B = A r B O R G

${}_\mathcal{A}\!r_{\mathcal{AB}}={}_{\mathcal{A}}\!r_{BORG}$

Cartesian coordinates笛卡尔坐标

$X P c = ⎛ ⎝ ⎜ x y z ⎞ ⎠ ⎟$ $\mathcal{X}_{P_{c}}=\begin{pmatrix}x\\y\\z\end{pmatrix}$
$A r = ⎛ ⎝ ⎜ x y z ⎞ ⎠ ⎟$ ${}_\mathcal{A}\!r=\begin{pmatrix}x\\y\\z\end{pmatrix}$
Cylindrical coordinates圆柱坐标系

$X P z = ⎛ ⎝ ⎜ ρ θ z ⎞ ⎠ ⎟$ $\mathcal{X}_{P_{z}}=\begin{pmatrix}\rho\\\theta\\z\end{pmatrix}$
$A r = ⎛ ⎝ ⎜ ρ cos θ ρ sin θ z ⎞ ⎠ ⎟$ ${}_\mathcal{A}\!r=\begin{pmatrix}\rho\cos\theta\\\rho\sin\theta\\z\end{pmatrix}$
Spherical coordinates球坐标系

$X P s = ⎛ ⎝ ⎜ r θ ϕ ⎞ ⎠ ⎟$ $\mathcal{X}_{P_{s}}=\begin{pmatrix}r\\\theta\\\phi\end{pmatrix}$
$A r = ⎛ ⎝ ⎜ r cos θ sin ϕ r sin θ sin ϕ r cos ϕ ⎞ ⎠ ⎟$ ${}_\mathcal{A}\!r=\begin{pmatrix}r\cos\theta\sin\phi\\r\sin\theta\sin\phi\\r\cos\phi\end{pmatrix}$

2.线速度

A v A B = E P (X P) X P ˙

${}_{\mathcal{A}}\!v_{\mathcal{AB}}=E_{P}(\mathcal{X}_{P})\dot{\mathcal{X}_{P}}$

Cartesian coordinates笛卡尔坐标

$E P c (X P c) = E - 1 P c (X P c) = I$ $E_{P_{c}}(\mathcal{X}_{P_{c}})=E_{P_{c}}^{-1}(\mathcal{X}_{P_{c}})=\mathbb{I}$
Cylindrical coordinates圆柱坐标系

$E P z (X P z) = ⎡ ⎣ ⎢ cos θ sin θ 0 - ρ sin θ ρ cos θ 0 001 ⎤ ⎦ ⎥$ $E_{P_{z}}(\mathcal{X}_{P_{z}})=\begin{bmatrix} \cos\theta && -\rho\sin\theta && 0\\ \sin\theta && \rho\cos\theta && 0\\ 0 && 0 && 1 \end{bmatrix}$

E - 1 P z (X P z) = ⎡ ⎣ ⎢ cos θ - sin θ / ρ 0 sin θ cos θ / ρ 0 001 ⎤ ⎦ ⎥

$E_{P_{z}}^{-1}(\mathcal{X}_{P_{z}})= \begin{bmatrix} \cos\theta && \sin\theta && 0\\ -\sin\theta/\rho && \cos\theta/\rho && 0\\ 0 && 0 && 1 \end{bmatrix}$

Spherical coordinates球坐标系
$E P s (X P s) = ⎡ ⎣ ⎢ cos θ sin ϕ sin θ sin ϕ cos ϕ - r sin θ sin ϕ r cos θ sin ϕ 0 r cos θ cos ϕ r sin θ cos ϕ - r sin ϕ ⎤ ⎦ ⎥$ $E_{P_{s}}(\mathcal{X}_{P_{s}})=\begin{bmatrix} \cos\theta\sin\phi && -r\sin\theta\sin\phi && r\cos\theta\cos\phi\\ \sin\theta\sin\phi && r\cos\theta\sin\phi && r\sin\theta\cos\phi\\ \cos\phi && 0 && -r\sin\phi \end{bmatrix}$

E - 1 P s (X P s) = ⎡ ⎣ ⎢ cos θ sin ϕ - sin θ / (r sin ϕ) (cos θ cos ϕ) / r sin θ sin ϕ cos θ / (r sin ϕ) (sin θ cos ϕ) / r cos ϕ 0 - sin ϕ / r ⎤ ⎦ ⎥

$E_{P_{s}}^{-1}(\mathcal{X}_{P_{s}})= \begin{bmatrix} \cos\theta\sin\phi && \sin\theta\sin\phi && \cos\phi\\ -\sin\theta/(r\sin\phi) && \cos\theta/(r\sin\phi) && 0\\ (\cos\theta\cos\phi)/r && (\sin\theta\cos\phi)/r && -\sin\phi/r \end{bmatrix}$

二、Rotation and Angular Velocity旋转与角速度

1.旋转 :坐标系B相对于坐标系A的旋转

C A B = [A e B x A e B y A e B x]

$C_{\mathcal{AB}}= \begin{bmatrix} {}_\mathcal{A}\!e_{x}^{\mathcal{B}} && {}_\mathcal{A}\!e_{y}^{\mathcal{B}} && {}_\mathcal{A}\!e_{x}^{\mathcal{B}} \end{bmatrix}$

Euler Angles欧拉角
- ZYZ Euler Angles
  $X R, e u l e r Z Y Z = ⎛ ⎝ ⎜ z 1 y z 2 ⎞ ⎠ ⎟$ $\mathcal{X}_{R,eulerZYZ}=\begin{pmatrix}z_{1} \\ y \\ z_{2}\end{pmatrix}$
  $C A D = C A B (z 1) C B C (y) C C D (z 2)$ $C_{\mathcal{AD}}=C_{\mathcal{AB}}(z_{1}) C_{\mathcal{BC}}(y)C_{\mathcal{CD}}(z_{2})$
- ZXZ Euler Angles
  $X R, e u l e r Z X Z = ⎛ ⎝ ⎜ z 1 x z 2 ⎞ ⎠ ⎟$ $\mathcal{X}_{R,eulerZXZ}=\begin{pmatrix}z_{1} \\ x \\ z_{2}\end{pmatrix}$
  $C A D = C A B (z 1) C B C (x) C C D (z 2)$ $C_{\mathcal{AD}}=C_{\mathcal{AB}}(z_{1}) C_{\mathcal{BC}}(x)C_{\mathcal{CD}}(z_{2})$
- ZYX Euler Angles
  $X R, e u l e r Z Y X = ⎛ ⎝ ⎜ z y x ⎞ ⎠ ⎟$ $\mathcal{X}_{R,eulerZYX}=\begin{pmatrix}z \\ y \\ x\end{pmatrix}$
  $C A D = C A B (z) C B C (y) C C D (x)$ $C_{\mathcal{AD}}=C_{\mathcal{AB}}(z) C_{\mathcal{BC}}(y)C_{\mathcal{CD}}(x)$
- XYZ Euler Angles
  $X R, e u l e r X Y Z = ⎛ ⎝ ⎜ x y z ⎞ ⎠ ⎟$ $\mathcal{X}_{R,eulerXYZ}=\begin{pmatrix}x \\ y \\ z\end{pmatrix}$
  $C A D = C A B (x) C B C (y) C C D (z)$ $C_{\mathcal{AD}}=C_{\mathcal{AB}}(x) C_{\mathcal{BC}}(y)C_{\mathcal{CD}}(z)$
Angle Axis角轴
$X R, A n g l e A x i s = (θ n)$ $\mathcal{X}_{R,AngleAxis}=\begin{pmatrix}\theta \\ \boldsymbol{n} \end{pmatrix}$
$C A B = ⎡ ⎣ ⎢ n 2 x (1 - c θ) + c θ n x n y (1 - c θ) + n z s θ n x n z (1 - c θ) - n y s θ n x n y (1 - c θ) - n z s θ n 2 y (1 - c θ) + c θ n y n z (1 - c θ) + n x s θ n x n z (1 - c θ) + n y s θ n y n z (1 - c θ) - n x s θ n 2 z (1 - c θ) + c θ ⎤ ⎦ ⎥$ $C_{\mathcal{AB}}=\begin{bmatrix} n_{x}^{2}(1-c_{\theta})+c_{\theta} && n_{x}n_{y}(1-c_{\theta})-n_{z}s_{\theta} && n_{x}n_{z}(1-c_{\theta})+n_{y}s_{\theta} \\ n_{x}n_{y}(1-c_{\theta})+n_{z}s_{\theta} && n_{y}^{2}(1-c_{\theta})+c_{\theta} && n_{y}n_{z}(1-c_{\theta})-n_{x}s_{\theta} \\ n_{x}n_{z}(1-c_{\theta})-n_{y}s_{\theta} && n_{y}n_{z}(1-c_{\theta})+n_{x}s_{\theta} && n_{z}^{2}(1-c_{\theta})+c_{\theta} \end{bmatrix}$
Unit Quaternions单位四元数
$X R, q u a t = ξ = (ξ 0 ξ ˘)$ $\mathcal{X}_{R,quat}=\xi=\begin{pmatrix} \xi_{0} \\ \breve{\xi} \end{pmatrix}$
$ξ 0 = cos (θ 2)$ $\xi_{0}=\cos(\frac{\theta}{2})$
$ξ ˘ = sin (θ 2) n = ⎛ ⎝ ⎜ ξ 1 ξ 2 ξ 3 ⎞ ⎠ ⎟$ $\breve{\xi}=\sin(\frac{\theta}{2})n=\begin{pmatrix} \xi_{1} \\ \xi_{2} \\ \xi_{3} \end{pmatrix}$
$C A D = (2 ξ 20 - 1) I 3 \times 3 + 2 ξ 0 [ξ ˘] \times + 2 ξ ˘ ξ ˘ T$ $C_{\mathcal{AD}}=(2\xi_{0}^{2}-1)\mathbb{I}_{3\times3}+2\xi_{0}[\breve{\xi}]_{\times}+2\breve{\xi}\breve{\xi}^{T}$

2.角速度

A ω A B = E R (X R) X R ˙

${}_{\mathcal{A}}\!\omega_{\mathcal{AB}}=E_{R}(\mathcal{X}_{R})\dot{\mathcal{X}_{R}}$

Euler Angles欧拉角
- ZYZ Euler Angles
  
  $E R, e u l e r Z Y Z = ⎡ ⎣ ⎢ 001 - sin (z 1) cos (z 1) 0 cos (z 1) sin (y) sin (z 1) sin (y) cos (y) ⎤ ⎦ ⎥$ $E_{R,eulerZYZ}=\begin{bmatrix} 0 && -\sin (z_{1}) && \cos (z_{1})\sin(y) \\ 0 && \cos (z_{1}) && \sin (z_{1})\sin(y) \\1 && 0 && \cos(y)\end{bmatrix}$
  $E - 1 R, e u l e r Z Y Z = ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ - cos ( y ) cos ( z 1 ) sin ( y ) - sin (z 1) cos ( z 1 ) sin ( y ) - cos ( y ) sin ( z 1 ) sin ( y ) cos (z 1) sin ( z 1 ) sin ( y ) 100 ⎤ ⎦ ⎥ ⎥ ⎥ ⎥$ $E^{-1}_{R,eulerZYZ}=\begin{bmatrix} \frac{-\cos(y)\cos(z_{1})}{\sin(y)} && \frac{-\cos(y)\sin(z_{1})}{\sin(y)} && 1\\ -\sin(z_{1}) && \cos(z_{1}) && 0 \\ \frac{\cos(z_{1})}{\sin(y)} && \frac{\sin(z_{1})}{\sin(y)} && 0 \end{bmatrix}$
- ZXZ Euler Angles
  
  $E R, e u l e r Z X Z = ⎡ ⎣ ⎢ 001 cos (z 1) sin (z 1) 0 sin (z 1) sin (x) - cos (z 1) sin (x) cos (x) ⎤ ⎦ ⎥$ $E_{R,eulerZXZ}=\begin{bmatrix} 0 && \cos (z_{1}) && \sin (z_{1})\sin(x) \\ 0 && \sin (z_{1}) && -\cos (z_{1})\sin(x) \\1 && 0 && \cos(x)\end{bmatrix}$
  $E - 1 R, e u l e r Z X Z = ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ - cos ( x ) sin ( z 1 ) sin ( x ) cos (z 1) sin ( z 1 ) sin ( x ) cos ( x ) cos ( z 1 ) sin ( x ) sin (z 1) - cos ( z 1 ) sin ( x ) 100 ⎤ ⎦ ⎥ ⎥ ⎥ ⎥$ $E^{-1}_{R,eulerZXZ}=\begin{bmatrix} \frac{-\cos(x)\sin(z_{1})}{\sin(x)} && \frac{\cos(x)\cos(z_{1})}{\sin(x)} && 1\\ \cos(z_{1}) && \sin(z_{1}) && 0 \\ \frac{\sin(z_{1})}{\sin(x)} && \frac{-\cos(z_{1})}{\sin(x)} && 0 \end{bmatrix}$
- ZYX Euler Angles
  
  $E R, e u l e r Z Y X = ⎡ ⎣ ⎢ 001 - sin (z) cos (z) 0 cos (y) cos (z) cos (y) sin (z) - sin (y) ⎤ ⎦ ⎥$ $E_{R,eulerZYX}=\begin{bmatrix} 0 && -\sin (z) && \cos (y)\cos(z) \\ 0 && \cos (z) && \cos (y)\sin(z) \\1 && 0 && -\sin(y)\end{bmatrix}$

E - 1 R, e u l e r Z Y X = ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ cos ( z ) sin ( y ) cos ( y ) - sin (z) cos ( z ) cos ( y ) sin ( y ) sin ( z ) cos ( y ) cos (z) sin ( z ) cos ( y ) 100 ⎤ ⎦ ⎥ ⎥ ⎥ ⎥

$E^{-1}_{R,eulerZYX}=\begin{bmatrix} \frac{\cos(z)\sin(y)}{\cos(y)} && \frac{\sin(y)\sin(z)}{\cos(y)} && 1\\ -\sin(z) && \cos(z) && 0 \\ \frac{\cos(z)}{\cos(y)} && \frac{\sin(z)}{\cos(y)} && 0 \end{bmatrix}$

XYZ Euler Angles
$E R, e u l e r X Y Z = ⎡ ⎣ ⎢ 100 0 cos (x) sin (x) sin (y) - cos (y) sin (x) cos (x) cos (y) ⎤ ⎦ ⎥$ $E_{R,eulerXYZ}=\begin{bmatrix} 1 && 0 && \sin(y) \\ 0 && \cos(x) && -\cos(y)\sin(x) \\ 0 && \sin(x) && \cos(x)\cos(y) \end{bmatrix}$

E - 1 R, e u l e r X Y Z = ⎡ ⎣ ⎢ ⎢ ⎢ ⎢ 100 sin ( x ) sin ( y ) cos ( y ) cos (x) - sin ( x ) cos ( y ) - cos ( x ) sin ( y ) cos ( y ) sin (x) cos ( x ) cos ( y ) ⎤ ⎦ ⎥ ⎥ ⎥ ⎥

$E^{-1}_{R,eulerXYZ}=\begin{bmatrix}1 && \frac{\sin(x)\sin(y)}{\cos(y)} && \frac{-\cos(x)\sin(y)}{\cos(y)} \\ 0 && \cos(x) && \sin(x) \\ 0 && \frac{-\sin(x)}{\cos(y)} && \frac{\cos(x)}{\cos(y)} \end{bmatrix}$

Angle Axis角轴
$E R, a n g l e a x i s = [n sin θ I 3 \times 3 + (1 - cos θ) [n] \times]$ $E_{R,angleaxis}=[n \, \sin\theta\mathbb{I}_{3\times3}+(1-\cos\theta)[n]_{\times}]$

E - 1 R, a n g l e a x i s = [n T - 1 2 sin θ 1 - cos θ [n] 2 \times - 1 2 [n] \times]

$E^{-1}_{R,angleaxis}=\begin{bmatrix}n^{T} \\ -\frac{1}{2}\frac{\sin\theta}{1-\cos\theta}[n]_{\times}^{2}-\frac{1}{2}[n]_{\times}\end{bmatrix}$

Unit Quaternions单位四元数
$H (ξ) = ⎡ ⎣ ⎢ - ξ 1 - ξ 2 - ξ 3 ξ 0 ξ 3 - ξ 2 - ξ 3 ξ 0 ξ 1 ξ 2 - ξ 1 ξ 0 ⎤ ⎦ ⎥$ $H(\xi)=\begin{bmatrix} -\xi_{1} && \xi_{0} && -\xi_{3} && \xi_{2} \\ -\xi_{2} && \xi_{3} && \xi_{0} && -\xi_{1} \\ -\xi_{3} && -\xi_{2} && \xi_{1} && \xi_{0} \end{bmatrix}$

E R, q u a t = 2 H (ξ)

$E_{R,quat}=2H(\xi)$

E - 1 R, q u a t = 1 2 H (ξ) T

$E^{-1}_{R,quat}=\frac{1}{2}H(\xi)^{T}$

三、Transformation and Velocity变换与速度

1.变换：平移+旋转

T A B = [C A B 0 1 \times 3 A r A B 1]

$T_{\mathcal{AB}}= \begin{bmatrix} C_{\mathcal{AB}} && {}_{\mathcal{A}}\!r_{AB}\\ 0_{1\times3} && 1 \end{bmatrix}$

2.速度

v P = v B + Ω \times r B P

$v_{P}=v_{B}+\Omega\times r_{BP}$

四、坐标空间

1.Joint Space关节空间
Joint Configuration关节角坐标

q = ⎛ ⎝ ⎜ ⎜ q 1 ⋮ q n ⎞ ⎠ ⎟ ⎟

$q= \begin{pmatrix}q_{1} \\ \vdots \\ q_{n}\end{pmatrix}$

2.Task Space任务空间
End-Effector Configuration末端执行器坐标

X e = (r e ϕ e)

$\mathcal{X}_{e}= \begin{pmatrix}r_{e}\\ \phi_{e}\end{pmatrix}$

Operational Space coordinates操作空间坐标

X o = (r o ϕ o)

$\mathcal{X}_{o}= \begin{pmatrix}r_{o}\\ \phi_{o}\end{pmatrix}$

附：kinematic redundancy:任务空间维数<关节空间维数

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Rigid Manipulators--Modelling建模--位姿描述

一、Position位置Cartesian coordinates笛卡尔坐标 XPc=⎛⎝⎜xyz⎞⎠⎟XPc=(xyz)\mathcal{X}_{P_{c}}=\begin{pmatrix}x\\y\\z\end{pmatrix} Ar=⎛⎝⎜xyz⎞⎠⎟Ar=(xyz){}_\mathcal{A}\!r=\begin{pmatrix}x\\y\\z\end{pmatrix}Cyl...
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