现代机器人学：力学、规划与控制深度解析

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现代机器人学：《Modern Robotics - Mechanics, Planning, and Control》是由Kevin M. Lynch和Frank C. Park合著的一本权威教材，旨在提供最新、全面的机器人学基础知识，适合自我学习者深入理解和掌握。该书于2017年5月由剑桥大学出版社出版，ISBN号码为9781107156302。在引用时，请确保提及剑桥大学出版社，并注明出版日期为2017年。本书的核心内容围绕机器人学的基本概念展开，首先介绍了配置空间（Configuration Space）的概念，这是理解机器人运动的关键。配置空间指的是一个物体所有可能的运动状态组成的集合，包括其关节角度或位置等自由度。章节2.1讨论了刚体的自由度，区分了固定连接点（如汽车车轮）和铰接连接点（如关节），以及如何通过欧拉角或四元数来表示它们的运动。格鲁布勒公式（Grübler's Formula）在2.2.2部分被详细阐述，用于计算机器人系统的最小自由度，帮助理解机器人结构对运动性能的影响。 2.2.1节重点介绍了机器人关节，包括它们的类型，如旋转关节、移动关节等，以及它们如何影响机器人的运动范围和复杂性。此外，作者还强调了理解关节的限制和设计的重要性，因为这直接关系到机器人的灵活性和精确性。 2.3.1中，作者探讨了配置空间的拓扑性质，即空间的连通性和分隔结构，这对于路径规划和避障策略至关重要。而2.3.2则深入讨论了配置空间的不同表示方法，例如笛卡尔坐标、极坐标、关节空间和混合空间，以便读者根据实际应用选择最合适的表示形式。通过阅读这本书，读者不仅能了解到机器人学的基础理论，还能学习到如何进行有效的机械设计、运动规划和控制策略。书中提供了丰富的示例和练习，以及配套的软件资源、视频教程和作者反馈渠道，以便于读者在实践中加深理解。《Modern Robotics - Mechanics, Planning, and Control》是一本不可或缺的参考书籍，对于想要在机器人领域深造的学生和工程师来说，是系统学习和研究的宝贵资源。

xiv Preface

simple and elegant geometric interpretation that lies at the heart of what they

are calculating.

The breakthrough that makes the techniques of classical screw theory ac-

cessible to a more general audience arrived in the early 1980’s, when Roger

Brockett showed how to mathematically describe kinematic chains in terms of

the Lie group structure of the rigid-body motions [20]. This discovery allowed

one, among other things, to re-invent screw theory simply by appealing to basic

linear algebra and linear diﬀerential equations. With this “modern screw the-

ory” the powerful tools of modern diﬀerential geometry can be brought to bear

on a wide-ranging collection of robotics problems, some of which we explore

here, others of which are covered in the excellent but more advanced graduate

textbook by Murray, Li and Sastry [122].

As the title indicates, this book covers what we feel to be the fundamentals

of robot mechanics, together with the basics of planning and control. A thor-

ough treatment of all the chapters would likely take two semesters, particularly

when coupled with programming assignments or experiments with robots. The

contents of Chapters 2-6 constitute the minimum essentials, and these topics

should probably be covered in sequence.

The instructor can then selectively choose content from the remaining chap-

ters. At Seoul National University, the undergraduate course M2794.0027 Intro-

duction to Robotics covers, in one semester, Chapters 2-7 and parts of Chapters

10, 11, and 12. At Northwestern, ME 449 Robotic Manipulation covers, in an 11-

week quarter, Chapters 2-6 and 8, then touches on diﬀerent topics in Chapters

9-13 depending on the interests of the students and instructor. A course focus-

ing on the kinematics of robot arms and wheeled vehicles could cover chapters

2-7 and 13, while a course on kinematics and motion planning could addition-

ally include Chapters 9 and 10. A course on the mechanics of manipulation

would cover Chapters 2-6, 8, and 12, while a course on robot control would

cover Chapters 2-6, 8, 9, and 11. If the instructor prefers to avoid dynamics

(Chapter 8), the basics of robot control (Chapters 11 and 13) can be covered by

assuming control of velocity at each actuator, not forces and torques. A course

focusing only on motion planning could cover Chapters 2 and 3, Chapter 10 in

depth (possibly supplemented by research papers or other references cited in

that chapter), and Chapter 13.

To help the instructor choose which topics to teach and to help the student

keep track of what she has learned, we have included a summary at the end of

each chapter and a summary of important notation and formulas used through-

out the book (Appendix A). For those whose primary interest in this text is

as an introductory reference, we have attempted to provide a reasonably com-

prehensive, though by no means exhaustive, set of references and bibliographic

May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org

Preface xv

notes at the end of each chapter. Some of the exercises provided at the end of

each chapter extend the basic results covered in the book, and for those who

wish to probe further, these should be of some interest in their own right. Some

of the more advanced material in the book can be used to support independent

study projects.

Another important component of the book is the software, which is written

to reinforce the concepts in the book and to make the formulas operational. The

software was developed primarily by Kevin’s ME 449 students at Northwestern

and is freely downloadable from http://modernrobotics.org. Video lectures

that accompany the textbook will also be available at the website. The intent

of the video content is to “ﬂip” the classroom. Students watch the brief lectures

on their own time, rewinding and rewatching as needed, and class time is fo-

cused more on collaborative problem-solving. This way, the professor is present

when the students are applying the material and discovering the gaps in their

understanding, creating the opportunity for interactive mini-lectures addressing

the concepts that need most reinforcing. We believe that the added value of

the professor is greatest in this interactive role, not in delivering a lecture the

same way it was delivered the previous year. This approach has worked well for

Kevin’s introduction to mechatronics course, http://nu32.org.

Video content is generated using the Lightboard, http://lightboard.info,

created by Michael Peshkin at Northwestern University. We thank him for

sharing this convenient and eﬀective tool for creating instructional videos.

We have also found the V-REP robot simulation software to be a valuable

supplement to the book and its software. This simulation software allows stu-

dents to interactively explore the kinematics of robot arms and mobile manipu-

lators and to animate trajectories that are the result of exercises on kinematics,

dynamics, and control.

While this book presents our own perspective on how to introduce the fun-

damental topics in ﬁrst courses on robot mechanics, planning, and control, we

acknowledge the excellent textbooks that already exist and that have served

our ﬁeld well. Among these, we would like to mention as particularly inﬂuential

the books by Murray, Li, and Sastry [122]; Craig [32]; Spong, Hutchinson, and

Vidyasagar [177]; Siciliano, Sciavicco, Villani, and Oriolo [171]; Mason [109];

Corke [30]; and the motion planning books by Latombe [80], LaValle [83], and

Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, and Thrun [27]. In ad-

dition, the Handbook of Robotics [170], edited by Siciliano and Khatib with

a multimedia extension edited by Kr¨oger (http://handbookofrobotics.org),

is a landmark in our ﬁeld, collecting the perspectives of hundreds of leading

researchers on a huge variety of topics relevant to modern robotics.

It is our pleasure to acknowledge the many people who have been the sources

May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org

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