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Modern Robotics, Lynch and Park, Cambridge University Press 1

This document appears to be the table of contents and introductory sections of a textbook on robotics. The table of contents lists 13 chapters covering topics like kinematics, dynamics, trajectory generation and motion planning. The introduction defines key concepts like reference frames, rotation matrices, and the special orthogonal group SO(3) of rotation matrices. It also provides examples of using rotation matrices to represent orientations, change reference frames, and rotate vectors and frames.

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MOHIT KUMAR
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161 views9 pages

Modern Robotics, Lynch and Park, Cambridge University Press 1

This document appears to be the table of contents and introductory sections of a textbook on robotics. The table of contents lists 13 chapters covering topics like kinematics, dynamics, trajectory generation and motion planning. The introduction defines key concepts like reference frames, rotation matrices, and the special orthogonal group SO(3) of rotation matrices. It also provides examples of using rotation matrices to represent orientations, change reference frames, and rotate vectors and frames.

Uploaded by

MOHIT KUMAR
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 2 Configuration Space

Chapter 3 Rigid-Body Motions


3.2 Rotations and Angular Velocities

Chapter 4 Forward Kinematics


Chapter 5 Velocity Kinematics and Statics
Chapter 6 Inverse Kinematics
Chapter 7 Kinematics of Closed Chains
Chapter 8 Dynamics of Open Chains
Chapter 9 Trajectory Generation
Chapter 10 Motion Planning
Chapter 11 Robot Control
Chapter 12 Grasping and Manipulation
Chapter 13 Wheeled Mobile Robots

Modern Robotics, Lynch and Park, Cambridge University Press 1


Important concepts, symbols, and equations

• We often define a fixed space frame {s} and a body frame {b} attached to
some body of interest. All frames are instantaneously stationary.

• Right-handed frames, and right-hand rule for positive rotation.

nal
ogo i al
t h ec
or sp

• Special orthogonal group SO(3): matrices R in ℝ3×3 where RTR = I, det R = 1.


R is a rotation matrix. Implicit representation with 9 numbers for 3 dof.
Modern Robotics, Lynch and Park, Cambridge University Press 2
Important concepts, symbols, and equations (cont.)

• A group is a set of elements G = {a, b, c ...} and a binary operation • satisfying

closure a • b ∈ G for all a, b ∈ G

associativity (a • b) • c = a • (b • c)

identity element exists there is an I ∈ G such that a • I = I • a = a


for each a ∈ G

inverse exists for each a ∈ G, there exists a−1 ∈ G such that


a • a−1 = a−1 • a = I

Integers under addition? Nonnegative integers under addition? Square real matrices under multiplication?
What is a Lie group?
Modern Robotics, Lynch and Park, Cambridge University Press 3
Important concepts, symbols, and equations (cont.)

• SO(3) is a matrix (Lie) group (the group operation is matrix multiplication).

closure: R1R2 ∈ SO(3)


associative: (R1R2)R3 = R1(R2R3) (not commutative! R1R2 ≠ R2R1 generally)
identity: identity matrix I
inverse: matrix inverse

RTR = I, so R−1 = RT.

For x ∈ ℝ3, ∥x∥ = ∥Rx∥.

Modern Robotics, Lynch and Park, Cambridge University Press 4


Important concepts, symbols, and equations (cont.)

• Uses of a rotation matrix:

1. Represent an orientation. Rab represents orientation of {b} in {a}.


2. Change the reference frame of a vector or frame.
subscript cancellation:

3. Rotate a vector or frame. R = Rcd = Rot(ŵ, !), axis ŵ expressed in {c}.


p’c = Rcd pc (no subscript cancellation)
Rab’ = RRab (after rotating about axis in {a})
Rab’’ = RabR (after rotating about axis in {b})

Modern Robotics, Lynch and Park, Cambridge University Press 5


Rab = pb =

Modern Robotics, Lynch and Park, Cambridge University Press 6


Given R1 = Rab, R2 = Rbc, and R3 = Rad,
write Rdc in terms of R1, R2, and R3 (no inverses!).

Given pb, what is pd in terms of R1, R2, and R3 (no inverses)?

Modern Robotics, Lynch and Park, Cambridge University Press 7


R = Rba = Rot(ŵ, !): ! = p/2, axis ŵ =

Rbc’ = RRbc = Rbc’’ = RbcR =

Modern Robotics, Lynch and Park, Cambridge University Press 8


orientation representation # nums imp/exp? pros cons

Euler angles, roll-pitch-yaw

Unit quaternions

Rotation matrices

Modern Robotics, Lynch and Park, Cambridge University Press 9

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