4 d i f f e r e n t i a l k i n e m a t i c s- ira a. fulton collegeof（4 d我f f e r e n t l k我n e m t c s - ira a·富尔顿collegeof）（18页）.docVIP

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4 d i f f e r e n t i a l k i n e m a t i c s- ira a. fulton collegeof（4 d我f f e r e n t l k我n e m t c s - ira a·富尔顿collegeof）（18页）.doc

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4 d i f f e r e n t i a l k i n e m a t i c s- ira a. fulton collegeof（4 d我f f e r e n t l k我n e m t c s - ira a·富尔顿collegeof）（18页）

DIFFERENTIAL KINEMATICS Purpose: The purpose of this chapter is to introduce you to robot motion. Differential forms of the homogeneous transformation can be used to examine the pose velocities of frames. This method will be compared to a conventional dynamics vector approach. The Jacobian is used to map motion between joint and Cartesian space, an essential operation when curvilinear robot motion is required in applications such as welding or assembly. Differential Displacements Often it is necessary to determine the effect of small displacements on kinematic transformations. This can be useful in trajectory planning and path interpolation/extrapolation or in interacting with sensor systems such as vision or tactile. Now if we have a frame T relating a set of axes (primed axes) to global or base axes, then a small differential displacement of these axes (dp, d? = d??k) relative to the base axes results in a new frame T = T + dT = H(d???dp) T. Although finite rotations cant be considered vectors, differential (infinitesimal) rotations can, thus d? = d? k. Thus, the form of dT can be expressed as dT = (H(d???dp) - I) T = ?T (4.1) Equation (4.1) expresses the differential displacement in base coordinates. Displacements made relative to the primed axes ( dp, d??expressed in primed axes)?change the form of dT to dT = T (H(d???dp) - I) = T T? (4.2) Considering translation and rotation separately, and defining ? or T? (depending upon the axes of reference) equal to H(d???dp) - I, we determine that where (4.3) Equation (4.3) comes from (2.1) using . For pure differential translation, (4.4) where Now since H(d?, dp) = H (dp) H(d????it is easily shown that, ?(d?, dp) = H(dp) H(d?) - I (4.5) Given (4.5), d? and dp, dT can be determined in either (4.1) or (4.2) and the natural extension to velocities of points within these frames appropriately follows. In the case of pure rotation, (4.5) reduces to a differential