机器人工学 第五章robo_chapter5.pptVIP

* * Chapter 5 Statics (靜 力 學) · ????? ???? ?? · ??? ?? End-Point? ?? · ?/???? ???? 5.1 ?? ??? 5.1.1 ????? fi-1,i : i-1? ?? i? ???? ? ?? ?? Moment? ?? ??? coupling force, moment between the adjacent link i-1 and i at end point end point force, moment ?????? ?? ??? ?? ??? ? ???? 2n?? ?? ????. ??? coupling force? ? + end point force? ? = 2(n+1) ??? 2?? coupling force? ???? ??? ???? ? ? ??. ? ??? coupling force? Robot? ?? ?? ??? ? ??? end point force?? ??? ?? ????. 5.1.2 等價關節 Torque for prismatic joint for revolute joint vector ??? ?? ??? ???? end point force? ?? ?? ??? ??? ? ??. ??? ??? ??? ???? ??? ? ? ??? ??? ????. ? ? [??] ??? J? ?? ??? Jacobian [??] ???(Virtual Work)? ??? ???? ???? or ? 5.1 5.1.3 Transformation of Force and Moment Force sensor? ??? ?? ????? ??? ??? ??. ∑B ∑C ∑A ?? C?? ???? ?? B?? ???? ?? ???? ?????? ????? ?? ???? ??? ??? ???? ??? ×? vector ????? ? ?? ??? ???. ???? [a×]b ? ???? if : ex) Screw ??? ∑B Sensor ??? ∑C 5.2 Stiffness 5.2.1 Stiffness? ?? : 外力 ?? : joint stiffness 5.2.2 End Point Compliance compliance matrix J ? ??? ????? C ? ??? ????.