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Modern Robotics, Lynch and Park, Cambridge University Press 1

This document provides an overview of chapters and concepts from the textbook "Modern Robotics" by Lynch and Park. It includes chapters on configuration space, rigid body motions, kinematics, dynamics, trajectory generation, motion planning and robot control. Key concepts discussed include the special Euclidean group SE(3), homogeneous transformation matrices, forward/inverse kinematics, twists representing rigid body velocities, and the adjoint representation for transforming twists between frames. Screws and twists are also introduced along with their relationship and representations as twists.

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MOHIT KUMAR
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133 views13 pages

Modern Robotics, Lynch and Park, Cambridge University Press 1

This document provides an overview of chapters and concepts from the textbook "Modern Robotics" by Lynch and Park. It includes chapters on configuration space, rigid body motions, kinematics, dynamics, trajectory generation, motion planning and robot control. Key concepts discussed include the special Euclidean group SE(3), homogeneous transformation matrices, forward/inverse kinematics, twists representing rigid body velocities, and the adjoint representation for transforming twists between frames. Screws and twists are also introduced along with their relationship and representations as twists.

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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Download as PDF, TXT or read online on Scribd
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Chapter 2 Configuration Space

Chapter 3 Rigid-Body Motions


3.2 Rotations and Angular Velocities
3.3 Rigid-Body Motions and Twists

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

• The special Euclidean group SE(3) is a matrix Lie group also known as the
group of rigid-body motions or homogeneous transformation matrices in ℝ3 .

• The inverse of T ∈ SE(3) is

Modern Robotics, Lynch and Park, Cambridge University Press 2


Important concepts, symbols, and equations (cont.)

• Three uses of HT matrices:

1. Represent a configuration. Tab represents frame {b} relative to {a}.


2. Change the reference frame of a vector or frame.

v should be written in
homogeneous coordinates,
v = [v1 v2 v3 1]T.

3. Displace a vector or frame. T = (R, p) = Trans(p) Rot(",#)


!

Modern Robotics, Lynch and Park, Cambridge University Press 3


Important concepts, symbols, and equations (cont.)

Space-frame transformation:

Tsb’’ = T Tsb = Trans(p) Rot(",#)


! Tsb

2. translate {b’} by p 1. rotate {b} by # about


in {s} to get {b’’} "
! in{s} to get {b’}
(moves {b} origin)

Body-frame transformation:

Tsb’’ = Tsb T = Tsb Trans(p) Rot(",#)


!
1. translate {b} by p 2. rotate {b’} by # about
in {b} to get {b’} "
! in{b’} to get {b’’}

Modern Robotics, Lynch and Park, Cambridge University Press 4


Important concepts, symbols, and equations (cont.)

Any rigid-body velocity can represented as a screw axis (a direction s! ∈ S2, a


point q ∈ ℝ3 on the screw, and the pitch (linear speed/angular speed) of the screw
h), plus the speed along the screw %.̇
s!

q
If h is infinite, %̇ is the linear speed.
%̇
Otherwise, it is the angular speed.

Modern Robotics, Lynch and Park, Cambridge University Press 5


Important concepts, symbols, and equations (cont.)

The twist Va = (!a , va) ∈ ℝ6 is the angular velocity expressed in {a} and the linear
velocity of the origin of {a} expressed in {a}.

s#

&̇
body twist Vb

spatial twist Vs

Modern Robotics, Lynch and Park, Cambridge University Press 6


Important concepts, symbols, and equations (cont.)

• To transform a twist from one frame to another,

Va = Tab Vb
4×4 6×1

Va = [AdTab] Vb , where the adjoint representation of T = (R , p) is

Modern Robotics, Lynch and Park, Cambridge University Press 7


Important concepts, symbols, and equations (cont.)

Matrix representation of twists:

where se(3) is the Lie algebra of SE(3) (the set of all possible "̇ when T = I).

Modern Robotics, Lynch and Park, Cambridge University Press 8


Important concepts, symbols, and equations (cont.)

Screws and twists:

•
Modern Robotics, Lynch and Park, Cambridge University Press 9
s!
Screws and twists

q What is the dimension


•
of the space of screws?
$̇

•
Modern Robotics, Lynch and Park, Cambridge University Press 10
Kinova lightweight 4-dof arm

For J4, what is the screw axis Sb? Ss?

For J2?

Modern Robotics, Lynch and Park, Cambridge University Press 11


pb = (3,3,0)

Write Tbc.

Modern Robotics, Lynch and Park, Cambridge University Press 12


A camera with frame {c} tracks the optical marker on a tool to get its
frame {t} relative to {c}. This transformation is T1. A space frame {s}
is attached to the floor of the room, and the camera observes its
configuration relative to {c} as T2. A robot arm has a mounting frame
{m} which has been measured relative to {s} as T3. The arm’s
encoders and the robot’s kinematics tell us the gripper’s frame {e}
relative to {m}. This is represented as T4. The gripper should be at
the frame {g} relative to {t} to be able to close on the tool and pick it
up. This configuration is represented as T5.

Write Teg, the configuration of the grasping frame {g} relative to the
current end-effector frame {e}, in terms of T1, T2, T3, T4, and T5.

Modern Robotics, Lynch and Park, Cambridge University Press 13

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