Introduction to Robotics ：Mechanics and Control (Chapter 3)

最新推荐文章于 2021-10-10 11:03:51 发布

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最新推荐文章于 2021-10-10 11:03:51 发布

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分类专栏：机器人技术基础文章标签：运动学经验分享

本文链接：https://blog.csdn.net/shenmideshuaige/article/details/120470585

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本文探讨了机器人和机械臂的运动学，具体涉及PUMA560型机械臂的改进，其中第三关节被替换为滑动关节。通过推导运动学方程，分析了在工具位置未知情况下如何使用力控进行校准，并确定机器人位置。同时，对双杆机械臂的连杆变换矩阵进行了重构，解析了末端执行器相对于基座的位置。此外，还研究了人体腿部的链接参数，计算了步幅长度。内容涵盖机器人运动学、机械臂设计和人体生物力学。

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3.2 Imagine an arm like the PUMA 560, except that joint 3 is replaced with a pris-matic joint. Assume the prismatic joint slides along the direction of $\mathbf{\hat{X}_1}$ in Fig.3.18;however, there is still an offset equivalent to $\mathbf{d_3}$ to be accounted for. Make any additional assumptions needed. Derive the kinematic equations.

$\begin{array}{|c|c|c|c|} \hline \alpha_{i-1} & a_{i-1} & d_{i} & \theta_{i} \\ \hline 0 & 0 & 0 & \theta_{1} \\ -90^{\circ} & 0 & d_{2} & \theta_{2} \\ 90^{\circ} & 0 & d_{3} & 180^{\circ} \\ 0 & a_{3} & d_{4} & \theta_{4} \\ 90 & 0 & 0 & \theta_{5} \\ -90 & 0 & 0 & \theta_{6} \\ \hline \end{array}$

${ }_{1}^{0} T=\left[\begin{array}{cccc} C_{1} & -S_{1} & 0 & 0 \\ S_{1} & C_{1} & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]$ ${ }_{2}^{1} T=\left[\begin{array}{cccc} C_{2} & -S_{2} & 0 & 0 \\ 0 & 0 & 1 & d_{2} \\ -S_{2} & -C_{2} & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]$ ${ }_{3}^{2} T=\left[\begin{array}{rrrr} -1 & 0 & 0 & 0 \\ 0 & 0 & -1 & -d_{3} \\ 0 & -1 & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]$ ${ }_{4}^{3} T=\left[\begin{array}{cccc} C_{4} & -S_{4} & 0 & a_{3} \\ S_{4} & C_{4} & 0 & 0 \\ 0 & 0 & 1 & d_{4} \\ 0 & 0 & 0 & 1 \end{array}\right]$

${ }_{5}^{4} T=\left[\begin{array}{ccrc} C_{5} & -S_{5} & 0 & 0 \\ 0 & 0 & -1 & 0 \\ S_{5} & C_{5} & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]$ ${ }_{6}^{5} T=\left[\begin{array}{ccrc} C_{6} & -S_{6} & 0 & 0 \\ 0 & 0 & 1 & 0 \\ -S_{6} &- C_{6} & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]$

$\begin{aligned}&\because { }_{6}^{0} T={ }_{3}^{0} T_{6}^{3} T \\ &{ }_{3}^{0} T=\left[\begin{array}{cccc} -C_{1} C_{2} & S_{1} & C_{1} S_{2} & -d_{2} S_{1}+d_{3} C_{1} S_{2} \\ -S_{1} C_{2} & -C_{1} & S_{1} S_{2} & d_{2} C_{1}+d_{3} S_{1} S_{2} \\ S_{2} & 0 & C_{2} & d_{3} C_{2} \\ 0 & 0 & 0 & 1 \end{array}\right] \\ &{ }_{6}^{3} T=\left[\begin{array}{cccc} C_{4} C_{5} C_{6}-S_{4} S_{6} & -\left(C_{4} C_{5} S_{6}+S_{4} C_{6}\right) & -C_{4} S_{5} & a_{3} \\ \left(S_{4} C_{5} C_{6}+C_{4} S_{6}\right) & -S_{4} C_{5} S_{6}+C_{4} C_{6} & -S_{4} S_{5} & 0 \\ S_{5} C_{6} & -S_{5} S_{6} & C_{5} & d_{4} \\ 0 & 0 & 0 & 1 \end{array}\right] \\ &\therefore { }_{6}^{0} T=\left[\begin{array}{cccc} R_{11} & R_{12} & R_{13} & P_{x} \\ R_{21} & R_{22} & R_{23} & P_{y} \\ R_{31} & R_{32} & R_{33} & P_{z} \\ 0 & 0 & 0 & 1 \end{array}\right] \end{aligned}$

where:

$\begin{aligned} &R_{11}=-C_{1} C_{2} C_{4} C_{5} C_{6}+C_{1} C_{2} S_{4} S_{6}+S_{1} S_{4} C_{5} C_{6}+S_{1} C_{4} S_{6}+C_{1} S_{2} S_{5} S_{6} \\ &R_{12}=C_{1} C_{2} C_{4} C_{5} S_{6}+C_{1} C_{2} S_{4} C_{6}-S_{1} S_{4} C_{5} S_{6}+S_{1} C_{4} C_{6}-S_{1} S_{2} S_{5} S_{6} \\ &R_{13}=C_{1} C_{2} C_{4} S_{5}-S_{1} S_{4} S_{5}+C_{1} S_{2} C_{5} \\ &R_{21}=-S_{1} C_{2} C_{4} C_{5} C_{6}+S_{1} C_{2} S_{4} S_{6}-C_{1} S_{4} C_{5} C_{6}-C_{1} C_{4} S_{6}+S_{1} S_{2} S_{5} C_{6} \\ &R_{22}=S_{1} C_{2} C_{4} C_{5} S_{6}+S_{1} C_{2} S_{4} C_{6}+C_{1} S_{4} C_{5} S_{6}-C_{1} C_{4} C_{6}-S_{1} S_{2} S_{5} S_{6} \\ &R_{23}=S_{1} C_{2} C_{4} S_{5}+C_{1} S_{4} S_{5}+S_{1} S_{2} C_{5} \\ &R_{31}=S_{2} C_{4} C_{5} C_{6}-S_{2} S_{4} S_{6}+C_{2} S_{5} C_{6} \\ &R_{32}=-S_{2} C_{4} C_{5} S_{6}-S_{2} S_{4} C_{6}-C_{2} S_{5} S_{6} \\ &R_{33}=-S_{2} C_{4} C_{5}+C_{2} C_{5} \\ \end{aligned}$

$\begin{aligned} &P_{x}=-d_{2} S_{1}+\left(d_{3}+d_{4}\right) C_{1} S_{2}-a_{3} C_{1} C_{2} \\ &P_{y}=d_{2} C_{1}+\left(d_{3}+d_{4}\right) S_{1} S_{2}-a_{3} S_{1} C_{2} \\ &P_{2}=\left(d_{3}+d_{4}\right) C_{2}+a_{3} S_{2} \end{aligned}$

3.8 In Fig.3.31, the location of the tool, $\mathbf{^W_TT}$ , is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at location $\boldsymbol{^S_GT}$ . Once in this“calibration" configuration (in which{G} and {T} are coincident), the position of the robot, $\mathbf{^B_WT}$ , is figured out by read-ing the joint angle sensors and computing the kinematics. Assuming $\mathbf{^B_ST}$ and $\mathbf{^S_GT}$ are known, give the transform equation to compute the unknown tool frame, $\mathbf{^W_TT}$ .

When {G}={T}, we have:

${ }_{W}^{B} T_{T}^{W} T={ }_{S}^{B} T_{G}^{S} T$

so:

$\quad{ }_{T}^{W} T={ }_{W}^{B} T^{-1}{ }_{S}^{B} T_{G}^{S} T$

3.9 For the two-link manipulator shown in Fig. 3.32(a), the link-transformationmatrices, $\mathbf{^0_1T}$ and $\mathbf{^1_2T}$ , were constructed. Their product is

$\boldsymbol{{ }_{2}^{0} T=\left[\begin{array}{cccc} c \theta_{1} c \theta_{2} & -c \theta_{1} s \theta_{2} & s \theta_{1} & l_{1} c \theta_{1} \\ s \theta_{1} c \theta_{2} & -s \theta_{1} s \theta_{2} & -c \theta_{1} & l_{1} s \theta_{1} \\ s \theta_{2} & c \theta_{2} & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]}$

The link-frame assignments used are indicated in Fig.3.32(b). Note that frame {0} is coincident with frame {1} when $\mathbf{\theta_1=0}$ . The length of the second link is $\mathbf{l_2}$ . Find an expression for the vector $\mathbf{^0P_{tip}}$ , which locates the tip of the arm relative to the {0} frame.

$\begin{aligned} &\because { }^{0} P_{T I P}={ }_{2}^{0} T^{2} P_{T I P} ;{ }^{2} P_{T I P}=\left[\begin{array}{c} L_{2} \\ 0 \\ 0 \end{array}\right] \\ &\therefore { }^{0} P_{T I P}=\left[\begin{array}{cccc} C_{1} C_{2} & -C_{1} S_{2} & S_{1} & L_{1} C_{1} \\ S_{1} C_{2} & -S_{1} S_{2} & -C_{1} & L_{1} S_{1} \\ S_{2} & C_{2} & 0 & 0 \\ 0 & 0 & 0 & 1 \end{array}\right]\left[\begin{array}{c} L_{2} \\ 0 \\ 0 \\ 1 \end{array}\right] \\ &\quad\quad\quad=\left[\begin{array}{c} L_{1} C_{1}+L_{2} C_{1} C_{2} \\ L_{1} S_{1}+L_{2} S_{1} C_{2} \\ L_{2} S_{2} \end{array}\right] \end{aligned}$

3.16 Assign link frames to the R P R planar robot shown in Fig. 3.36, and give the linkage parameters.

$\begin{array}{ccc} a_{1}=d_1 & a_{2}=0 & a_{3}=0 \\ \alpha_{2}=90^{\circ} & \alpha_{2}=-90^{\circ} & \alpha_{3}=0^{\circ}\\ d_{1}=0 &d_{2}=-d_2 & d_{3}=0 \\ \theta_{1}=\theta_1& \theta_{2}=0^{\circ} & \theta_{3}=-\theta_3 \end{array}$

3.25 A certain human leg has the following dimensions (in cm): femur length =500, shank length = 400, ankle-to-heel distance = 50, ankle-to-toe distance = 150.For the leg shown in Fig.3.44, the three joint angles, $\mathbf{ \Theta = (\theta_{hip}, \theta_{knee}. \theta_{ankle})}$ , are zero when the leg is vertical.

a) Show the attachment of link frames on the leg.

b) Give values for the link parameters, assuming the frame origins are coplanar.

$\theta_1=\theta_2=\theta_3=0\\ d_1=500,d_2=400,d_3=50,d_4=150$

c) Compute the stride length, that is the distance along the ground from toe contact-point to heel contact-point, using the joint vectors $\mathbf{\Theta_{toe-contant}=(-4.15^{\circ},-38.39^{\circ},-2.57^{\circ})}$ and $\mathbf{\Theta_{heel-contant}=(-9.64^{\circ},-19.9^{\circ},-31.8^{\circ})}$ and assuming that the heel contact-point, the ankle joint, and the toe contact-point are collinear.