现代机器人：力学、规划与控制入门

需积分: 9 195 浏览量更新于2024-07-18 收藏 6.67MB PDF 举报

"MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL 是一本2017年的机器人入门书籍，由Kevin M. Lynch和Frank C. Park合著。该书预印本提供个人使用，非用于进一步分发，最终出版方为剑桥大学出版社。书中涵盖机器人机械、规划和控制的基础知识，包括度量、配置空间等内容，并在http://modernrobotics.org上提供相关软件、视频和反馈表单。" 《现代机器人：机械、规划与控制》是一本深入浅出介绍机器人学的教材，适合初学者。作者通过清晰的阐述和实例，帮助读者理解这一领域的核心概念。书中的主要内容包括： 1. 预览章节（Preview）：这部分可能概述了全书的主题和学习目标，为读者提供了整体的框架和预期的学习路径。 2. 配置空间（Configuration Space）：这是机器人学中的关键概念，它定义了机器人的所有可能状态集合。配置空间的研究对于理解和规划机器人的运动至关重要。 - 度量自由度（Degrees of Freedom）：对于刚体，度量自由度是指它能够独立改变的位置或方向的数量。在机器人学中，这个概念被扩展到机器人，讨论机器人关节如何给予机器人运动能力。 - 机器人关节（Robot Joints）：机器人关节是连接机器人各部分的活动组件，它们决定了机器人的运动方式和自由度。 - 格鲁伯勒公式（Grubler's Formula）：这是一个用于计算多关节机器人自由度的公式，考虑了各个关节的独立运动范围。 - 配置空间的拓扑和表示（Topology and Representation）：这部分可能探讨了配置空间的结构，包括其连通性、分支和局部性质，以及如何有效地表示这些空间，如使用笛卡尔坐标或关节变量。书中的这些内容将引导读者逐步掌握机器人设计和控制的基础，包括如何计算机器人的运动范围、规划有效的运动路径以及理解机器人系统的动态行为。通过对这些概念的深入理解，读者将能够为实际的机器人应用打下坚实的基础。此外，配套的软件和视频资源将为学习过程提供实践支持，使理论知识更加生动易懂。

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

剩余641页未读，继续阅读

weixin_38312146

粉丝: 0
资源: 1

现代机器人：力学、规划与控制入门

Modern_Robotics_Mechanics Planning and Control2017

Modern Robotics-- Mechanics, Planning, and Control.pdf

Modern Robotics Mechanics Planning and Control

modern robotics mechanics planning and control

Modern Robotics Mechanics--Planning and Control 平板电脑版本

modern robotics mechanics, planning, and control

《Modern Robotics Mechanics, Planning, and Control》机械臂学习经典书籍

现代机器人学(Modern Robotics Mechanics, Planning, and Control)课后习题答案

Modern Robotics: Mechanics, Planning and Control (2017最新英文版，文字版带目录)

Modern Robotics- Mechanics, Planning, and Control 现代机器人学：力学，规划与控制

最新资源