Dynamics of serial-type robotic manipulators

摘要

4 , In this thesis, algorithms of both invers(' and din'ct dynamirs, for gt>llNal rHtXl9 seriai-type robotic manlpulators continillg e-it.hrrT ('volut.e 01' pri~matic joint.s,(1('(' prt\ ., , ' 11 \.sented. the manipulators t;ndet siudy are consideft'd as thr holonomie mult.i-body.J systems whose dynamical m~d('ls are formulat.cdba,>cd 011 Kd,rw's dynlmfal ('quat,ions. 1 It is.d~monst.rated that usi.ngKane's dynamical ('quation:", t,II<' dynamical probl('f11 at.ha1d can' be "solved as sy~tematically as using ~ffifiently as using the Newt.on-Eulerequat.ion5 .the' I~ulcr-Lagrangl' ('qnat.ionsf1jlcl aH .->For ,inverse' dynamics, given the Har1:cnberg-f)enavit param('!.('r:;; .lIult.h(' n('rtial.\ pr9perties of the manipulator of interest., a.., wdl ab a 1)J'{'s('ribed traj('ft.oryill t.h(' joint.sp~ce, the alg;rit.hm of inverse dynamics ;rOdllC(lS thr t.inW hi:-.t,ory of Ut(, driving t.orqlJ('h an~/or forces requIre~ to drive t.he maniplllator through th PH'S( ribcd t. rcljp('\.ol'X.Ip tilt: problem formulation, forward recursion is used 1.0 C~)fTlpllte veloriti<'s and 1u('('I(ra!.iOrlH, whereas backward recursioIJ is used 1.0 comput (' HI(' driv i ng t.orquC'h and / or forr('s., .For direct.dynamics (simulat.ion),givcn thE' Hart("JJI)('Tg-))('IHlvit param(t('r,.., and III'" . .ertiat propert.ies,as weil as the t.lme hist.ory of tll(, driving tOJ(!U(' or for: ('x(\rting on -" each joint supplied by the joint's actuat.or, the algorithmt. of dm'ct.dyl1<lmicf> liirnulntt' the resulting IPotion of the manlpulator by comput.ingt.hc' Trlot iOIl t.raj(,('t,ory in t!J(' .loint . ., " ' space.In the problem fo!,mulation, the contept of natural ort.hogonal )mrJJ(!Jr)(~J1t il' > J used in the fac1.orization of t.he generahzed inrt.iamat.rix.']'0 compute t.h(' joint.a('( ('Ir ~> -----.. erations from the governing equat~ons of motion, two ditferent.m('f,IIOm., are prc'H(lrltpd, ~amely, 'one based on the Ch?lesky dec'omposition of tb(' gencralizcd ini~rtia matrix, ;lT1d tlie other based on a combinat ion of minimuin-norrn and least-sqlla~(' approxirr!atiowi ., of an underdetermined and an overdetcrmincd lincar algebraic syHt.crnf.., rcsp~( tivdy." Whereas the joint position and vclocity of cach joint.are integrated frorn Hl(' dynarni( ar model lfsing the 5t?/6th-order Runge-Kutt.aJfl('t.hod.Compared with other algorithmli exbting in th(' literatur(',-in the sense of compu-~ .~ tational complexity, the algorithms.presented here are morc efficient an(], from a COllceptual-viewpoint, they are more systematical.Mor~ove; they caR be casily cxtend(.JA \ . ," , 1 f " .' c '-.C ( .' , 1 ; , , to any multi:body dynamic sys~em with holonomie c~nstraints~ A software packlige, .namQd DYNVERS, has been developed, which irnplements the.,algorithms present,e?~, and now is running on the McRCIM net~ork.Three different typesof robotic manip-lat~ors; fJamely; the PUMA 600, the Stanfor<'f-Arm, a~d the DIESTR'O, haVe been tested ' .' 1rhrough out.thik thesis., " .