Dual Quaternion Synthesis：对偶四元数的合成.pptVIP

* The Catholic University of America December 2, 2003 Alba Perez Robotics and Automation Laboratory University of California, Irvine Dual Quaternion Synthesis of Constrained Robotic Systems Introduction to Robot Design What are constrained robotic systems? The design problem (finite position synthesis) Dual Quaternion Synthesis kinematics equations design equations counting solutions Applications computer aided design avatar synthesis crippled space robot arms Robotic Systems Types of Joints Types of robots Serial Robots Parallel Robots Serial Robots: 6 or more DOF: The workspace is a portion of the 6-dimensional space of displacements, whose boundary is given by the geometry of the robot and the limits on the joint angles. Design criteria: WS volume, dexterity, obstacle avoidance. Less than 6 DOF: The workspace is a submanifold of the 6-dimensional space of displacements. Positions that seem to be within the physical volume of the robot may not belong to the WS. Design criteria: Subspace of movements, task-oriented design. Parallel Robots: The WS can be seen as the intersection of the WS of each of the supporting serial chains. Each leg may impose constraints to the movement of the platform. Same distinction can be made between robots with less than 6 DOF and robots with 6 DOF or more. Design criteria: WS volume, isotropy. Workspace Panasonic 6-dof robot Constrained (Spatial) Robots Constrained robotic system: A workpiece, or end-effector, supported by one or more serial chains such that each one imposes at least one constraint on its movement. The constraints provide structural support in some directions, while allowing movement in the others. The workspace of a constrained robot has less that six degrees of freedom. Therefore, positions that lie “within the physical volume” of the system may be unreachable. Classification of constrained serial robots Parallel 2-TPR robot Constrained Planar “Robots” Serial