Arquitectura de robots

1−tan2 (θ )
c ( θ1 ± θ2 ) = c θ1 c θ2 ∓ s θ1 s θ2 c(2θ ) = c2(2θ ) − s2(2θ ) = 1+tan2 (θ )
a2 + b2 = c2
2 tan(θ )
s ( θ1 ± θ2 ) = s θ1 c θ2 ± c θ1 s θ2 s(2θ ) = 2sθ cθ = 1+tan2 (θ ) c2 = a2 + b2 − 2abcos(γ)
2 tan(θ ) a b c
c2θ1 + s2θ1 = 1 tan (2θ ) = 1−tan2 (θ ) sen(α)
= sen( β)
= sen(γ)
  q
s(−θ ) = −sθ tan 2θ = 11− cθ
+cθ sec(α) = 1
cα
tan( β)−tan(α)
c(−θ ) = cθ tan ( β − α) = 1+tan( β) tan(α) csc(α) = s1α
tan (−θ ) = − tan (θ ) tan (θ ) = csθ ctan(α) = tan1(α)
θ
dsθ (t) dθ (t) ∂sθ (t)
dt = dt cθ (t) ∂θ (t)
= cθ (t)
dcθ (t) −dθ (t) ∂cθ (t)
dt = dt sθ (t) ∂θ (t)
= − sθ (t)
dy(t) dx (t)
x (t) dt − y ( t ) dt
 
d y(t) d( x (t)y(t)) dx (t) dy(t)
dt x (t)
= x2 (t) dt = dt y ( t ) + x (t) dt

1− u2 2u θ = 2 arctan (u)
cθ = ,s
1+ u2 θ
= 1+ u2  √ 2 2 2
acθ + bsθ = c θ = 2 arctan b± ba++ca −c
   √ 2 2 2
θ = arctan ba − arctan ± a +c b −c
 
  a b c      
a b e f b c b c
det = ad − cb det d e f
  = a det − d det + g det
c d h i h i e f
g h i
( A ± B)2 = A2 + B2 ± 2AB  ( A ± B±C )2 = A2 + B2 + C2 ± 
2AB ± 2AC ± 2BC 
a 0 0 m11 m12 m13 am11 am12 am13
 0 b 0   m21 m22 m23  =  bm21 bm22 bm23 
 0 0 c m31 m32 m33   cm31 cm32 cm33 
m11 m12 m13 a 0 0 am11 bm12 cm13
 m21 m22 m23   0 b 0  =  am21 bm22 cm23 
m31 m32 m33 0 0 c am31 bm32 cm33
 
fx
       fy 
x f 1 ( q1 , . . . , q n ) τ1  
 fz 
 y  =  f 2 ( q1 , . . . , q n )  τ =  ...  F a = 
  
 nx 
z f 3 ( q1 , . . . , q n ) τn

 ny 


nz
p0n = f(q) q = f−1 p0n τ = J T (q) F a


∂f(q)
ṗ0n = ∂q q̇ : = J (q) q̇
 
∂x
∂q1
∂x
∂q2 ··· ∂x
∂qn
Adj( J (q)) n
q̇ = J −1 (q) ṗ0n =
 ∂y ∂y ∂y 
J (q) = 
 ∂q1 ∂q2 ··· ∂qn

 ṗ
det( J (q)) 0
∂z
∂q1
∂z
∂q2 ··· ∂z
∂qn
p0 = p10 + p1
p0 = R10 p1
i1 · i1 = ( i1 ) T i1 = 1 (i1 )T j1 = 0
R10 ( j1 )T j1 = 1 ( i1 ) T k 1 = 0
 
= i1 j1 k1
T
 (k1 ) k1 = 1  ( j1 )T k1 = 0
p0 p1
p0 = R10 p1 + p10 = T0 1
1 1
p10
 1
R0 p10
  
1 n o a
T0 := =
0 1  0 0  0 1
p0 p2
p0 = R20 p2 + p20 = T02
1 1    
p0 pn
R20 := R10 R21 T02 := T01 T12 = T01 T12 T23 · · · Tnn−1
" # 1 1
1 T 1 T p1


   

−1 R − R p0 pn
T01 0
= T1 = 0 0 0 = Tnn−1 · · · T23 T12 T01
0 1 1 1
 Rot (z, θ ) → Tras (z, d) o Rot ( x, α) → Tras ( x, a) o
Tras(z, d) → Rot (z, θ ) Tras( x, a) → Rot ( x, α)
    cθ −sθ 0 0 1 0 0 a
0 cθ −sθ 0
s c 0 0 0 c − s 0
T01 =  T01 = 
 θ θ
  α α 
Tras (z, d) =  0  Rot (z, θ ) =  sθ cθ 0   
 0 0 1 d   0 sα cα 0 
d 0 0 1
0 0 0 1 0 0 0 1
Rot ( z, θ ) → Rot ( x, 90o ) Rot (z,  θ ) → Rot ( x, − 90o)
    cθ 0 sθ 0 cθ 0 −sθ 0
x 1 0 0
s 0 − c 0 sθ 0 cθ 0 
T01 =  T01 = 
 θ θ
 
Tras ( x, a) =  0  Rot ( x, θ ) =  0 cθ −sθ   0 1

 0 −1

0 0  0 0 
0 0 sθ cθ
0 0 0 1 0 0 0 1
Rot(z, θ ) → Tras ( x, a)  Rot ( x, θ ) → Tras ( z, d ) 
    cθ −sθ 0 acθ 1 0 0 0
0 cθ 0 sθ
 T 1 =  0 cα −sα −dsα 
 sθ cθ 0 asθ 
1 0  T01 = 
 
Tras (y, d) =  d  Rot (y, θ ) =  0 0  0 sα cα
 0 0 1 0  dcα 
0 −sθ 0 cθ
0 0 0 1 0 0 0 1
Rot (zi−1 , θi ) 7−→ Tras
 (zi−1 , di ) 7−→ Tras ( xi , ai ) 7−→  Rot ( xi , αi )  
c θi − c αi s θi s θi s αi a i c θi c θi s θi 0 − ai
 sθ c θi c αi − c θi s αi a i s θi 
−1  − c α i s θ c θi c αi s αi 0
Tii−1 =  Tii−1

i  = i 
 0 s αi c αi di   s θi s αi − c θi s αi c αi − d i c αi 
0 0 0 1 0 0 0 1
wk g k s
Fg = µn f Fg = PA vo = K p θ vo = Ri = R RVtot
in θ
= Vin θtot
Rango total o distancia recorrida por una articulación o por la punta
Resolución de control = 2nr
Resolución de control o espacial
Exactitud = 2
−∆θ 0
   
1 0 1 0 0 0
 ∆θ 1 0 a i ∆θ 0 1 0 0
Tii−1 act.  , Ti


 
= i −1 act. =  0 0 di ± ∆d 
 
 0 0 1 0  1
0 0 0 1 0 0 0 1
0 0 ai ± ∆a
   
1 1 0 0 0
i

 0 1 0 0  i

 0 1 ∓∆α 0 
Ti−1 act. =
 0
, T
i −1 act. =  0 ± ∆α
 
0 1 0  1 0 
0 0 0 1  0   0 0 1

xd
 Rd  yd  
T0n (q) = T01 T12 · · · Tnn−1 = Td Td :=  
 zd 
0 1
2 n 1

−1
T1 · · · Tn−1 = T0 Td
3 n 2

−1 1
−1
T2 · · · Tn−1 = T1 T0 T
−1

−1 d
T01 T12 · · · Tnn− 2 = T T
d n−1
n

xmd
p0m =  ymd  := p0md
zmd  
xd
T0n (q) = T0m Tmn = Td p0md =  yd  − Rd pnn−1
zd

T
Rm = R0m Rd := U
n
Vj 2
a0 = q j (0) q j ( t ) = q j (0) +2tb t , en 0 ≤ t ≤ tb , j = 1, . . . , n
q (t )+q (t −t )−Vj t f
a1 = q̇ j (0) q j (t) = j b j 2f b + Vt , en tb ≤ t ≤ t f − tb , j = 1, . . . , n
    Vj
 2
3
a2 = q j (t f ) − q j (0) − t1 2q̇ j (0) + q̇ j (t f )
t2f
q j (t) = q j (t f ) − 2t t − t f , en t f − tb ≤ t ≤ t f , j = 1, . . . , n
f b
q j (t f )−q j (0)
   
−
a3 = t3 q j (t f ) − q j (0) + t12 q̇ j (0) + q̇ j (t f )
2
Vj = t f −tb
f f
V
q j ( t ) = a0 + a1 t + a2 t2 + a3 t3 , j = 1,. . . ,n q j (tb ) = q j (0) + 2j tb
V
q j (t f − tb ) = q j (t f ) − 2j tb
 (3t0 −t f )t2f −t0 t2f
 
t20 (t0 −3t f ) −t20 t f
   
a0 σ σ1 σ2 σ1  q j ( t0 )
 −6t2 t

2
t f +2t0 t f 2
 a1   0 f 6t0 t f t0 +2t0 t f 
  q̇ j (t0 ) 
 = σ2 σ1 σ2 σ1  
 a2 
 3 ( t0 + t f ) −(t0 +2t f ) −3 ( t0 + t f ) −(t f +2t0 )   q j ( t f ) 
 
a3  σ2 σ1 σ2 σ1  q̇ j (t f )
−2 1 2 1
σ2 σ1 σ2 σ1
σ1 := t20 − 2t0 t f + t2f σ2 := t30 − 3t20 t f + 3t0 t2f − t3f
h i h i
q̈ (t ) q̈i (ti ) q (t ) q̈ (t )h q (t ) q̈ (t )h
qi (t) = i 6hi−1 (ti − t)3 + 6h ( t − ti−1 )3 + i hi−1 − i i−6 1 i (ti − t) + i h i − i 6i i (t − ti−1 )
i i i i
hi q̈i (ti−1 ) + 2 (ti+1 − ti−1 ) q̈i (ti ) + hi+1 q̈i+1 (ti+1 ) = h 6 [qi+1 (ti+1 ) − qi+1 (ti )] + h6 [qi (ti−1 ) − qi (ti )]
i +1 i
h i : = t i − t i −1 q̇i (ti ) = q̇i+1 (ti ) q̈i (ti ) = q̈i+1 (ti )
1 T 1 n

T
Ek = Ektras + Ekrot = 2 q̇ M ( q ) q̇ Ektras = 2 ∑i=1 mi v0i v0i
1 n T
  Ekrot = 2 ∑ i =1 w i I i w i
Ix Ixy Ixz
Ii =  Ixy Iy Iyz  wn = Jw q̇
Ixz Iyz Iz  
0 q̇i
wii−1 =  0  wii−1 = 0 
q̇i 0
w20 = ρ1 w10 + ρ2 R10 w21
w30 = ρ1 w20 + ρ3 R20 w32
.. w0i = ρ1 w10 + ρ2 R10 w21 + · · · + ρi R0i−1 wii−1
. w0i = ρ1 Jw1 q̇1 + ρ2 Jw2 q̇2 + · · · + ρi Jwi q̇i
w0i = ρ1 w0i−1 + ρi R0i−1 wii−1
ρi =1, ρi =0  Jwi = z0i−1 := zi−1 , Jwi =x0i−1 := xi−1
0 1
Jw1 = z00 := z0 =  0  Jw1 = x00 := x0 =  0 
1 0
i

T i
w i = R0 w0
M(q)q̈ + C (q, q̇) q̇ + G (q) = τ − f (q, q̇)
τ = M (q)τ 0 + C (q, q̇) q̇ + G (q) + f (q, q̇)
τ 0 = q̈d + Kv ė + K p e τ 0 = q̈d + Kv ė + K p e + Ki edt
R
e := qd − q
...
ë + Kv ė + K p e = 0 e + Kv ë + K p ė + Ki e = 0
Ki < K v K p

τmj = k mj i aj k2mj
be f f j := bmj + R aj
F.C.E.M. j = k mj θ̇mj
Je f f j := Jmj + m jj (q) r2j
 h i 
1 k m1

r1 θ̈m1
 
r1 θ̇m1

r R v1 − Jm1 θ̈m1 − be f f 1 θ̇m1
 1 a1 
.. .. ..
M (q)   + C (q, q̇)  + G ( q ) =
     
. .  
 h . i


rn θ̈mn rn θ̇mn 1 k mn
vn − Jmn θ̈mn − be f f n θ̇mn
rn R an
k mj
−r j τj (s)+ R K (s)θdj (s)
aj
θmj (s) = k mj
s( Je f f j s+be f f j )+ R K (s)
aj
k mj
 
s Je f f j s + be f f j + R aj K ( s ) =0
−r j τjss
θmjss = lim θmj = lim sθmj = k mj + θdjss
t→∞ s →0 K (0)
R aj
R
v j := k pj e j + k dj ė j v j := k pj e j + k ij e j dt + k dj ė j
v j (s) v j (s) k
K (s) = := k pj + k dj s
e j (s)
K (s) = := k pj + sij + k dj s
e j (s)
  k     k  
s Je f f j s + be f f j + Rmj k pj + k dj s = 0 s2 Je f f j s + be f f j + Rmj k pj s + k ij + k dj s2 = 0
aj aj
R aj
θmjss = −r j k τjss + θdjss θmjss = θdjss
mj k pj
M (q) q̈ + C (q, q̇) q̇ + G (q) + J T (q) F a = τ − f (q, q̇)
τ = M (q)τ 0 + C (q, q̇) q̇ + G (q) + J T (q) F a + f (q, q̇)
τ 0 = J T (q) K x J (q) (qd − q) + τb