专题6 机械系统动力学.ppt

专题八 机构动力学 Manipulator Dynamics Outline Review Kinematics Model Jacobian Matrix Trajectory Planning Dynamic Model Langrange-Euler Equation Examples Homework highlight Composite Homogeneous Transformation Matrix Rules: Transformation (rotation/translation) w.r.t. (X,Y,Z) (OLD FRAME), using pre-multiplication（前乘） Transformation (rotation/translation) w.r.t. (U,V,W) (NEW FRAME), using post-multiplication（后乘） Homework Highlight Homogeneous Representation A frame in space Homework Highlight Assign to complete the right-handed coordinate system. The hand coordinate frame is specified by the geometry of tool. Normally, establish Zn along the direction of Zn-1 axis and pointing away from the robot; establish Xn so that it is normal to both Zn-1 and Zn. Assign Yn to complete the right-handed system. Review Steps to derive kinematics model: Assign D-H coordinates frames Find link parameters Transformation matrices of adjacent joints Calculate kinematics matrix When necessary, Euler angle representation Review D-H transformation matrix for adjacent coordinate frames, i and i-1. The position and orientation of the i-th frame coordinate can be expressed in the (i-1)th frame by the following 8 successive elementary transformations: Review Kinematics Equations chain product of successive coordinate transformation matrices of specifies the location of the n-th coordinate frame w.r.t. the base coordinate system Jacobian Matrix Jacobian Matrix Jacobian Matrix Inverse Jacobian Singularity rank(J)min{6,n}, Jacobian Matrix is less than full rank Jacobian is non-invertable Occurs when two or more of the axes of the robot form a straight line, i.e., collinear Avoid it Trajectory Planning Trajectory planning, “interpolate” or “approximate” the desired path by a class of polynomial functions and generates a sequence of time-based “control set points” for the control of manipulator from the initial configuration to its d