（1,1）类型机器人的运动学建模与驱动

Parameterization

Figure shows the schematic representation of the robot$(1,1)$

【考点1】Table of parameters of (1,1) robot

wheel	L	$\alpha$	d	$\beta$	$\gamma$	$\phi$	$\Phi =\alpha +\beta +\gamma$
$1f$	a	$-\frac{\pi }{2}$	0	0	$\frac{\pi }{2}$	${\phi }_{1f}$	0
$2f$	a	$\frac{\pi }{2}$	0	0	$-\frac{\pi }{2}$	${\phi }_{2f}$	0
$3s$	b	0	0	${\beta }_{3s}$	0	${\phi }_{3s}$	${\beta }_{3s}$

【考点2】configuration vector q
$$q={\left[x,y,\theta ,{\beta }_{3s},{\phi }_{1f},{\phi }_{2f},{\phi }_{3s}\right]}^T$$

Configuration kinematic model

【考点3】J,C矩阵求解
查找老师的memnto，一定要事先对应好轮子的类型$(v_t=0)$
$$J_1=\left[\begin{array}{ccc}1& 0& a\\ 1& 0& -a\\ \cos {\beta }_{3c}& \sin {\beta }_{3c}& b\sin {\beta }_{3c}\end{array}\right]$$
$$J_2=-r{I}_{3\times 3}$$

$(v_n=0)$
$$C_1=\left[\begin{array}{ccc}0& 1& 0\\ 0& 1& 0\\ -\sin {\beta }_{3c}& \cos {\beta }_{3c}& b\cos {\beta }_{3c}\end{array}\right]$$
$$C_2=[]$$
【考点4】Degree of mobility
$$C_1^{\ast }=\left[\begin{array}{c}{C}_{1f}\\ C_{1s}\end{array}\right]==\left[\begin{array}{ccc}0& 1& 0\\ 0& 1& 0\\ -\sin {\beta }_{3c}& \cos {\beta }_{3c}& b\cos {\beta }_{3c}\end{array}\right]$$
Degree of mobility ${\delta }_m=dim(Ker(C_1^{\ast }))=3-rank(C_1^{\ast })=3-2=1$
【易错点】Professor:As I have already pointed out after continuous evaluation , you have to justify that the rank of C1* is 2 whatever ${\beta }_{3s}$. It’s easy but you have to do it.

$$C_1{\cdot }^m{\Omega }_0(\theta )\cdot \dot{\xi }=C_1\cdot m\dot{\xi }=0$$
Thus,${}^m\dot{y}=0$ and $-sin({\beta }_{3s}{)}^m\dot{x}+0+bcos({\beta }_{3c}{)}^m\dot{\theta }=0$,we can get a base.
$$\sum =[\frac{1}{sin({\beta }_{3s})},0,\frac{1}{bcos({\beta }_{3s})}{]}^T$$

Posture Kinematic Model

$u_s=\dot{{\beta }_s}$，是已经知道的，我们要看看$u_m$与$\xi$之间的关系。
$${}^0{\Omega }_m(\theta )=\left[\begin{array}{ccc}\cos \theta & -\sin \theta & 0\\ \sin \theta & \cos \theta & 0\\ 0& 0& 1\end{array}\right]$$$$\sum =[\frac{1}{sin({\beta }_{3s})},0,\frac{1}{bcos({\beta }_{3s})}{]}^T$$
写到这里突然觉得我们的$\sum$没有分母会更好计算一点。
$$\xi =\left[\begin{array}{c}\frac{\cos \theta }{sin({\beta }_{3s})}\\ \frac{\sin \theta }{sin({\beta }_{3s})}\\ \frac{1}{bcos({\beta }_{3s})}\end{array}\right]u_m$$

Configuration kinematic model

【考点4】D,E矩阵求解
We do not have castor wheels,so$D=[]$.在$S(q)$中可以不写这一行。
$$\mathbf{E}\left({\beta }_s,{\beta }_c\right)=-{\mathbf{J}}_2^{-1}\cdot {\mathbf{J}}_1\left({\beta }_s,{\beta }_c\right)=-(-r{I}_{3\times 3}{)}^{-1}{J}_i=\frac{1}{r}J1({\beta }_s,{\beta }_c)$$
Thus,$$E=\frac{1}{r}\left[\begin{array}{ccc}1& 0& a\\ 1& 0& -a\\ \cos {\beta }_{3c}& \sin {\beta }_{3c}& b\sin {\beta }_{3c}\end{array}\right]$$

For the work to be complete, you need to study alternative motorization, determine possible singularities and, if any, interpret what happens physically at the singularity.

$$E\sum =\frac{1}{r}\left[\begin{array}{ccc}1& 0& a\\ 1& 0& -a\\ \cos {\beta }_{3c}& \sin {\beta }_{3c}& b\sin {\beta }_{3c}\end{array}\right][\frac{1}{sin({\beta }_{3s})},0,\frac{1}{bcos({\beta }_{3s})}{]}^T=\frac{1}{r}\left[\begin{array}{c}b\cos {\beta }_{3s}+a\sin {\beta }_{3s}\\ b\cos {\beta }_{3s}-a\sin {\beta }_{3s}\\ b\end{array}\right]$$

【考点5】wheel motorization
D,E矩阵共同组成F矩阵，F矩阵是判断标准。
$$\left[\begin{array}{c}{\dot{\phi }}_{1f}\\ {\dot{\phi }}_{2f}\\ {\dot{\phi }}_{3s}\end{array}\right]=\frac{1}{r}\left[\begin{array}{c}b\cos {\beta }_{3s}+a\sin {\beta }_{3s}\\ b\cos {\beta }_{3s}-a\sin {\beta }_{3s}\\ b\end{array}\right]$$
We have three cases to consider.

1. motorizing ${\phi }_{1f}$
2. motorizing ${\phi }_{2f}$
3. motorizing ${\phi }_{3s}$

$$\left[\begin{array}{c}{\dot{\beta }}_{3s}\\ {\dot{\phi }}_{1f}\end{array}\right]=\left[\begin{array}{cc}0& 1\\ \frac{b}{r}\cos {\beta }_{3s}+\frac{a}{r}\sin {\beta }_{3s}& 0\end{array}\right]\left[\begin{array}{c}{u}_s\\ u_m\end{array}\right]$$

$$\left[\begin{array}{c}{\dot{\beta }}_{3s}\\ {\dot{\phi }}_{2f}\end{array}\right]=\left[\begin{array}{cc}0& 1\\ \frac{b}{r}\cos {\beta }_{3s}-\frac{a}{r}\sin {\beta }_{3s}& 0\end{array}\right]\left[\begin{array}{c}{u}_s\\ u_m\end{array}\right]$$

$$\left[\begin{array}{c}{\dot{\beta }}_{3s}\\ {\dot{\phi }}_{3s}\end{array}\right]=\left[\begin{array}{cc}0& 1\\ \frac{1}{r}b& 0\end{array}\right]\left[\begin{array}{c}{u}_s\\ u_m\end{array}\right]$$

这里有一个明显的错误，我们在考虑motoring的时候不用把${\beta }_s$考虑进去。

Interpret what happens at the singularity using the ICR and blocking joints selectively.

【考点6】Singularity
第一，二种情况的奇异性分析是类似的，当我们把可旋转轮子锁定，单纯旋转固定轮子时，我们其实是无法让小车围绕ICR旋转的，相当于我们丢失了一个自由度。
第三种情况由于没有半径无穷大的轮子，其实奇异情况是不存在的。之后到底什么才是好的驱动方式，交给以后生活中的实践吧（

今日写文背景音乐《时代号子》毕竟是劳动节

力量攥在手，梦想在前头
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实干才能出成就，谁也别吹牛
成功一杯酒，亲人暖胸口
不悔青春有追求，日子有奔头
咱们挽起袖，大步朝前走
奋斗才会有幸福，劳动最风流
成功一杯酒，亲人暖胸口
不悔青春有追求，日子有奔头
咱们挽起袖，大步朝前走
奋斗才会有幸福，劳动最风流
奋斗才会有幸福，劳动最风流