现代机器人学：机械、规划与控制

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"现代机器人学：力学、规划与控制" 这篇文档摘录自《现代机器人学：力学、规划与控制》，作者是Kevin M. Lynch和Frank C. Park，这本书旨在为本科生提供一个关于机器人的全面教科书。作者们在2008年的IEEE国际机器人与自动化会议上决定合作编写这本书，书中内容源于Frank自1996年以来在首尔国立大学教授机器人运动学的讲义，以及Kevin在西北大学所用的一套教学笔记，这些笔记汇集了各种论文和书籍中的内容。标签：“机器人”表明本书专注于机器人领域的知识。书的内容涵盖了多个关键主题： 1. **预览**：这部分可能介绍了书中将要探讨的主要概念和框架，为读者提供了全书的概述。 2. **配置空间**：这是机器人学的基础概念，配置空间是描述机器人所有可能位置和姿态的数学空间。它包括： - **自由度**：讨论了刚体的自由度以及如何计算机器人的自由度。 - **机器人关节**：详述了机器人各个关节在运动学中的作用，它们决定了机器人的运动方式。 - **Grübler's公式**：这是一个用于计算具有多个连杆的闭链机构自由度的公式，对于理解和设计机器人至关重要。 - **配置空间的拓扑和表示**：讨论了配置空间的结构和表示方法，包括其拓扑性质和如何在数学上表示这些空间。书中还包含前言部分，由Roger Brockett和Matthew Mason两位知名专家撰写，为读者提供了作者视角之外的专业见解。此外，还有序言，作者可能分享了编写这本书的动机和目标。原书计划由剑桥大学出版社于2017年出版，并提供了进一步的信息资源，如软件、视频和反馈表单，以便读者能够深入学习和互动。《现代机器人学》不仅介绍了基本概念，还深入到机器人学的高级主题，如动力学、路径规划和控制策略，是学习机器人技术的宝贵资源。通过理解配置空间等核心概念，读者可以更好地掌握机器人如何在三维空间中移动和操作，为设计和控制机器人奠定坚实基础。

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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