Robot dynamics and control
➤ Gửi thông báo lỗi ⚠️ Báo cáo tài liệu vi phạmNội dung chi tiết: Robot dynamics and control
Robot dynamics and control
Chapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control f motion for a general open-chain manipulator mid. using the structure present ill the dynamics, construct control laws for asymptotic tracking of a desired trajectory. In deriving the dynamics, we will make explicit use of twists for representing the kinematics of the manipulator and explore the ro Robot dynamics and control le that the kinematics play in the equations of motion. We assume some familiarity with dynamics anil control of physical systems.1 IntroductionThe kiRobot dynamics and control
nematic models of robots that we saw in the last chapter describe how the motion of the joints of a robot is related to the mot ion of the rigid bodieChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control lly executed by the real-world robot. In this chapter, we look more closely at how to execute a given joint trajectory on a robot manipulator.Most robot manipulators are driven by electric, hydraulic, or pneumatic actuators, which apply torques (or forces, in the case of linear actuators) al the joi Robot dynamics and control nts of the robot. The dynamics of a rol>ot manipulator describes how the robot moves in response to these actuator forces. For simplicity, we will assRobot dynamics and control
ume that the actuators do not have dynamics of their own and, hence, we can command arbitrary torques at the joints of the robot. This allows US to stChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control describe the dynamics of a robot manipulator using a set of nonlinear, second-order, ordinary differential equations which depend on the kinematic ami inertial properties of the robot. Although in principle these equations can be derived by summing all of the forces acting on the coupled rigid bodie Robot dynamics and control s which form the robot, we shall rely instead on a Lagrangian derivation of the dynamics. This technique has the advantage of requiring only the kinetRobot dynamics and control
ic and potential energies of the system to be computed, and hence tends to be less prone to error than summing together the inertial, Coriolis, centriChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control d.Once the equations of motion for a manipulator are known, the inverse problem can be treated: the control of a robot manipulator entails finding actuator forces which cause the manipulator to move along a given trajectory. If we have a perfect model of the dynamics of the manipulator, we can find Robot dynamics and control t he proper joint torques directly from this model. In practice, we must design a feedback control law which updates the applied forces hi response toRobot dynamics and control
deviations from the desired trajectory, ('are is required in designing a fectllwick control law to insure that the overall system converges to the deChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control he simplest rolxỉt control problems, that of regulating the position of the robot. There are two basic ways that this problem can be solved. The first, referred to as joint space control, involves converting a given task into a desired path for the joints of the robot. A control law is then used to Robot dynamics and control determine joint torques which cause the manipulator to follow the given trajectory. A different approach is to transform the dynamics and control probRobot dynamics and control
lem into the task space, so that the control law is written in terms of the endeffector position and orientation. We refer to this approach as workspaChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control ition of the end-effector but also the forces it applies against the environment. We discuss this problem briefly in the last section of this chapter and defer a more complete treatment until Chapter 6, after we have introduced the tools necessary to study constrained systems.2 Lagrange’s EquationsT Robot dynamics and control here are many methods for generating the dynamic equations of a mechanical system. All methods generate equivalent sets of equations, but different foRobot dynamics and control
rms of the equations may be better suited for computation or analysis. We will use a Lagrangian analysis for our derivation, which156relies on the eneChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control lysis of the properties of the system.2.1 Basic formulationConsider a system of II particles which obeys .Newton’s second law the time rate of change of a particle's momentum is equal to the force applied to a particle. If we let Fj be the applied force on the ith particle, 7»,- he the particle’s ma Robot dynamics and control ss, and n be its position, then Newton’s law becomesFt = m,r, r, f= 1R3, i = I,..., n.-4.1Our interest is not in a set of independent particles, bur.Robot dynamics and control
rather in particles which are attached to one another and have limited degrees of freedom. To describe this interconnection, we introduce constraints Chapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control be written in this form, as mi algebraic relationship between the positions of the particles, is called a ìuĂOĩiomic constraint. More general constraints between rigid bodies involving r, can also occur, as we shall discover when we study multifingered hands.A constraint acts on a system of particle Robot dynamics and control s through application of constraint forces. The constraint forces are determined in such a way that the constraint in equation (4.2) is always satisfiRobot dynamics and control
ed. If we view the constraint as a smooth surface in !R”, the constraint forces arc normal to thissurface and restrict the velocity of the system to bChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control I 'fc € R:Robot dynamics and control
(1.3) for the 3n I k variables r < R3" and A c R*. The A| values only give the relative magnitudes of the constraint forces since the vectors l j areChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations of Robot dynamics and control of the state of all particles in the system even though they are not capable of independent motion. A more appealing approach is to describe the motion of the system in terms of a smaller set of variables that completely describes the configuration of the system. For a system of n particles with k Robot dynamics and control constraints, we seek a set of tn = 3n - k variables q\,...,q,„ and smooth functions such thatChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations ofChapter 4Robot Dynamics and ControlThis chapter presents an introduction to the dynamics ami control of robot manipulators. We derive the equations ofGọi ngay
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