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MODERN ROBOTICS
Modern Robotics
Mechanics, Planning, and Control
c Kevin M. Lynch and Frank C. Park
This preprint is being made available for personal use only and not for further
distribution. The book will be published by Cambridge University Press in
May 2017, ISBN 9781107156302. Citations of the book should cite Cambridge
University Press as the publisher, with a publication date of 2017. Original
figures from this book may be reused provided proper citation is given. More
information on the book, including software, videos, and a feedback form can
be found at http://modernrobotics.org. Comments are welcome!
Contents
Preface xiii
1 Preview 1
2 Configuration Space 11
2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12
2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15
2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 Grübler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Configuration Space: Topology and Representation . . . . . . . . 23
2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23
2.3.2 Configuration Space Representation . . . . . . . . . . . . 25
2.4 Configuration and Velocity Constraints . . . . . . . . . . . . . . . 29
2.5 Task Space and Workspace . . . . . . . . . . . . . . . . . . . . . 32
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3 Rigid-Body Motions 59
3.1 Rigid-Body Motions in the Plane . . . . . . . . . . . . . . . . . . 62
3.2 Rotations and Angular Velocities . . . . . . . . . . . . . . . . . . 68
3.2.1 Rotation Matrices . . . . . . . . . . . . . . . . . . . . . . 68
3.2.2 Angular Velocities . . . . . . . . . . . . . . . . . . . . . . 76
3.2.3 Exponential Coordinate Representation of Rotation . . . 79
3.3 Rigid-Body Motions and Twists . . . . . . . . . . . . . . . . . . . 89
i
ii Contents
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Contents iii
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iv Contents
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Contents v
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vi Contents
11.10Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
11.11Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
11.12Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 452
11.13Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
Contents vii
Bibliography 599
Index 617
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viii Contents
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
Foreword by Roger
Brockett
In the 1870s, Felix Klein was developing his far-reaching Erlangen Program,
which cemented the relationship between geometry and group theoretic ideas.
With Sophus Lie’s nearly simultaneous development of a theory of continuous
(Lie) groups, important new tools involving infinitesimal analysis based on Lie
algebraic ideas became available for the study of a very wide range of geomet-
ric problems. Even today, the thinking behind these ideas continues to guide
developments in important areas of mathematics. Kinematic mechanisms are,
of course, more than just geometry; they need to accelerate, avoid collisions,
etc., but first of all they are geometrical objects and the ideas of Klein and Lie
apply. The groups of rigid motions in two or three dimensions, as they appear
in robotics, are important examples in the work of Klein and Lie.
In the mathematics literature the representation of elements of a Lie group in
terms of exponentials usually takes one of two di↵erent forms. These are known
as exponential coordinates of the first kind and exponential coordinates of the
second kind. For the first kind one has X = e(A1 x1 +A2 x2 ··· ) . For the second kind
this is replaced by X = eA1 x1 eA2 x2 · · · . Up until now, the first choice has found
little utility in the study of kinematics whereas the second choice, a special case
having already shown up in Euler parametrizations of the orthogonal group,
turns out to be remarkably well-suited for the description of open kinematic
chains consisting of the concatenation of single degree of freedom links. This
is all nicely explained in Chapter 4 of this book. Together with the fact that
1
P eA P 1 = eP AP , the second form allows one to express a wide variety of
kinematic problems very succinctly. From a historical perspective, the use of
the product of exponentials to represent robotic movement, as the authors have
done here, can be seen as illustrating the practical utility of the 150-year-old
ideas of the geometers Klein and Lie.
In 1983 I was invited to speak at the triennial Mathematical Theory of Net-
ix
x Foreword
works and Systems Conference in Beer Sheva, Israel, and after a little thought
I decided to try to explain something about what my recent experiences had
taught me. By then I had some experience in teaching a robotics course that
discussed kinematics, including the use of the product of exponentials represen-
tation of kinematic chains. From the 1960s onward eAt had played a central
role in system theory and signal processing, so at this conference a familiarity,
even an a↵ection, for the matrix exponential could be counted on. Given this, it
was natural for me to pick something eAx -related for the talk. Although I had
no reason to think that there would be many in the audience with an interest
in kinematics, I still hoped I could say something interesting and maybe even
inspire further developments. The result was the paper referred to in the preface
that follows.
In this book, Frank and Kevin have provided a wonderfully clear and patient
explanation of their subject. They translate the foundation laid out by Klein
and Lie 150 years ago to the modern practice of robotics, at a level appropriate
for undergraduate engineers. After an elegant discussion of fundamental prop-
erties of configuration spaces, they introduce the Lie group representations of
rigid-body configurations, and the corresponding representations of velocities
and forces, used throughout the book. This consistent perspective is carried
through foundational robotics topics including forward, inverse, and di↵erential
kinematics of open chains, robot dynamics, trajectory generation, and robot
control, and more specialized topics such as kinematics of closed chains, motion
planning, robot manipulation, planning and control for wheeled mobile robots,
and control of mobile manipulators.
I am confident that this book will be a valuable resource for a generation of
students and practitioners of robotics.
Roger Brockett
Cambridge, Massachusetts, USA
November, 2016
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
Foreword by Matthew
Mason
Robotics is about turning ideas into action. Somehow, robots turn abstract
goals into physical action: sending power to motors, monitoring motions, and
guiding things towards the goal. Every human can perform this trick, but it
is nonetheless so intriguing that it has captivated philosophers and scientists,
including Descartes and many others.
What is the secret? Did some roboticist have a eureka moment? Did some
pair of teenage entrepreneurs hit on the key idea in their garage? To the con-
trary, it is not a single idea. It is a substantial body of scientific and engineer-
ing results, accumulated over centuries. It draws primarily from mathematics,
physics, mechanical engineering, electrical engineering, and computer science,
but also from philosophy, psychology, biology and other fields.
Robotics is the gathering place of these ideas. Robotics provides motivation.
Robotics tests ideas and steers continuing research. Finally, robotics is the
proof. Observing a robot’s behavior is the nearly compelling proof that machines
can be aware of their surroundings, can develop meaningful goals, and can act
e↵ectively to accomplish those goals. The same principles apply to a thermostat
or a fly-ball governor, but few are persuaded by watching a thermostat. Nearly
all are persuaded by watching a robot soccer team.
The heart of robotics is motion – controlled programmable motion – which
brings us to the present text. Modern Robotics imparts the most important
insights of robotics: the nature of motion, the motions available to rigid bodies,
the use of kinematic constraint to organize motions, the mechanisms that enable
general programmable motion, the static and dynamic character of mechanisms,
and the challenges and approaches to control, programming, and planning mo-
tions. Modern Robotics presents this material with a clarity that makes it acces-
sible to undergraduate students. It is distinguished from other undergraduate
texts in two important ways.
xi
xii Foreword
Matthew T. Mason
Pittsburgh, PA, USA
November, 2016
May 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http://modernrobotics.org
Preface
xiii
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 di↵erential equations. With this “modern screw the-
ory” the powerful tools of modern di↵erential 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 di↵erent 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 e↵ective 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 Kröger (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
xvi Preface
Kevin M. Lynch
Evanston, Illinois, USA
Frank C. Park
Seoul, Korea
November, 2016
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Chapter 1
Preview
1
2
electric motors, these would ideally be lightweight, operate at relatively low ro-
tational speeds (e.g., in the range of hundreds of RPM), and be able to generate
large forces and torques. Since most currently available motors operate at low
torques and at up to thousands of RPM, speed reduction and torque ampli-
fication are required. Examples of such transmissions or transformers include
gears, cable drives, belts and pulleys, and chains and sprockets. These speed-
reduction devices should have zero or low slippage and backlash (defined as
the amount of rotation available at the output of the speed-reduction device
without motion at the input). Brakes may also be attached to stop the robot
quickly or to maintain a stationary posture.
Robots are also equipped with sensors to measure the motion at the joints.
For both revolute and prismatic joints, encoders, potentiometers, or resolvers
measure the displacement and sometimes tachometers are used to measure ve-
locity. Forces and torques at the joints or at the end-e↵ector of the robot can be
measured using various types of force–torque sensors. Additional sensors may
be used to help localize objects or the robot itself, such as vision-only cameras,
RGB-D cameras which measure the color (RGB) and depth (D) to each pixel,
laser range finders, and various types of acoustic sensor.
The study of robotics often includes artificial intelligence and computer per-
ception, but an essential feature of any robot is that it moves in the physical
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Chapter 1. Preview 3
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4
shapes, just like a two-dimensional plane has a di↵erent shape from the two-
dimensional surface of a sphere. These di↵erences become important when de-
termining how to represent the space. The surface of a unit sphere, for example,
could be represented using a minimal number of coordinates, such as latitude
and longitude, or it could be represented by three numbers (x, y, z) subject to
the constraint x2 + y 2 + z 2 = 1. The former is an explicit parametrization
of the space and the latter is an implicit parametrization of the space. Each
type of representation has its advantages, but in this book we will use implicit
representations of configurations of rigid bodies.
A robot arm is typically equipped with a hand or gripper, more generally
called an end-e↵ector, which interacts with objects in the surrounding world.
To accomplish a task such as picking up an object, we are concerned with the
configuration of a reference frame rigidly attached to the end-e↵ector, and not
necessarily the configuration of the entire arm. We call the space of positions
and orientations of the end-e↵ector frame the task space and note that there
is not a one-to-one mapping between the robot’s configuration space and the
task space. The workspace is defined to be the subset of the task space that
the end-e↵ector frame can reach.
There are several other well-known coordinate representations, e.g., Euler an-
gles, Cayley–Rodrigues parameters, and unit quaternions, which are discussed
in Appendix B.
Another reason for focusing on the exponential description of rotations is
that they lead directly to the exponential description of rigid-body motions.
The latter can be viewed as a modern geometric interpretation of classical screw
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Chapter 1. Preview 5
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6
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Chapter 1. Preview 7
the input joint torques and forces needed for desired joint accelerations. The
dynamic equations relating the forces and torques to the motion of the robot’s
links are given by a set of second-order ordinary di↵erential equations.
The dynamics for an open-chain robot can be derived using one of two ap-
proaches. In the Lagrangian approach, first a set of coordinates – referred to
as generalized coordinates in the classical dynamics literature – is chosen to
parametrize the configuration space. The sum of the potential and kinetic
energies of the robot’s links are then expressed in terms of the generalized
coordinates and their time derivatives. These are then substituted into the
Euler–Lagrange equations, which then lead to a set of second-order di↵er-
ential equations for the dynamics, expressed in the chosen coordinates for the
configuration space.
The Newton–Euler approach builds on the generalization of f = ma, i.e.,
the equations governing the acceleration of a rigid body given the wrench acting
on it. Given the joint variables and their time derivatives, the Newton–Euler
approach to inverse dynamics is: to propagate the link velocities and accelera-
tions outward from the proximal link to the distal link, in order to determine
the velocity and acceleration of each link; to use the equations of motion for
a rigid body to calculate the wrench (and therefore the joint force or torque)
that must be acting on the outermost link; and to proceed along the links back
toward the base of the robot, calculating the joint forces or torques needed to
create the motion of each link and to support the wrench transmitted to the dis-
tal links. Because of the open-chain structure, the dynamics can be formulated
recursively.
In this chapter we examine both approaches to deriving a robot’s dynamic
equations. Recursive algorithms for both the forward and inverse dynamics, as
well as analytical formulations of the dynamic equations, are presented.
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8
Often the input task data is given in the form of an ordered set of joint values,
called control points, together with a corresponding set of control times. On the
basis of this data the trajectory generation algorithm produces a trajectory for
each joint which satisfies various user-supplied conditions. In this chapter we
focus on three cases: (i) point-to-point straight-line trajectories in both joint
space and task space; (ii) smooth trajectories passing through a sequence of
timed “via points”; and (iii) time-optimal trajectories along specified paths,
subject to the robot’s dynamics and actuator limits. Finding paths that avoid
collisions is the subject of the next chapter on motion planning.
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Chapter 1. Preview 9
the environment. For example, a force-control goal makes sense when the end-
e↵ector is in contact with something, but not when it is moving in free space.
We also have a fundamental constraint imposed by the mechanics, irrespective
of the environment: the robot cannot independently control both motions and
forces in the same direction. If the robot imposes a motion then the environment
determines the force, and vice versa.
Most robots are driven by actuators that apply a force or torque to each
joint. Hence, precisely controlling a robot requires an understanding of the
relationship between the joint forces and torques and the motion of the robot;
this is the domain of dynamics. Even for simple robots, however, the dynamic
equations are complex and dependent on a precise knowledge of the mass and
inertia of each link, which may not be readily available. Even if it were, the
dynamic equations would still not reflect physical phenomena such as friction,
elasticity, backlash, and hysteresis.
Most practical control schemes compensate for these uncertainties by using
feedback control. After examining the performance limits of feedback control
without a dynamic model of the robot, we study motion control algorithms,
such as computed torque control, that combine approximate dynamic mod-
eling with feedback control. The basic lessons learned for robot motion control
are then applied to force control, hybrid motion–force control, and impedance
control.
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10
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Chapter 2
Configuration Space
11
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irrompere moltitudine di acque schierate come guerrieri in battaglia;
— li atterrirono serpenti a sonagli lunghi ben diciotto piedi, e torme
di alligatori andare a processione a guisa di formiche; i vermi stessi e
i bruchi mezzo braccio e più: natura piuttosto immane che grande;
paurosa, non bella. Alberi due volte tanto i nostri altissimi campanili.
Conghi, tigri, leopardi, pantere, orsi, copracappelli, insomma una
sterminata famiglia di enti maligni mettere in comunella la ferocia e il
veleno. E gli uomini? Gli uomini trovarono tali da fare diventar rossa
per vergogna la faccia ai coccodrilli se non l'avessero corazzata di
scorza. Peggiori degli antichi lestrigoni i comanchi, i quali se
divorassero interi i prigionieri è ignoto, tuttavia sappiamo che li
scalpellavano di certo, ovvero svellevano dal cranio la pelle co'
capelli, e se ne ornavano la persona, a imitazione delle nostre croci;
e si narra di un giovane ventenne, il quale portava penzoloni da un
anello saldato intorno al braccio manco ben dodici di queste
capelliere svelte di propria mano dal capo dei suoi nemici; —
giovanetto di belle speranze senza dubbio costui. La umanità da per
tutto è la medesima stoffa, gli uomini fogge tagliate dal costume
diverso. Fra i popoli che in America si dicono civili, o almeno non
selvaggi affatto, si praticava allora e tuttavia si pratica la legge del
Lynch; e i nostri personaggi, approssimandosi a Brownsville, terra sul
Rio Grande, la quale dopo il trattato Guadalupa-Hidalgo segna il
confino tra il Messico e il Texas, si trovarono presenti ad un fatto che
vale il pregio ricordare. In mezzo di una macchia folta videro
tempestare un branco di bestie, uomini e cani frugando
bramosamente per cespugli e per greppi; su quel subito giudicarono
dessero la caccia alla pantera, ma in breve furon tolti d'inganno,
imperciocchè si udissero disperate grida uscire dal prunaio, dove
slanciavasi di corsa una maniera di colosso umano, ricomparendo di
corto con una mano alla strozza di un uomo e con l'altra a quella di
un cane di ferocissima razza, costà noti col nome di blood-hound:
venuto allo aperto costui arrandellò il cane lungi da sè; il cane
rotolando ringhiava minaccioso, e aveva ragione da vendere,
perciocchè essendo stato educato con parecchi altri colleghi dagli
uomini a lanciarsi addosso agli uomini, e lacerarli, ora dell'opera
meritoria si trovava a ricevere quella razza di ben servito; e ciò,
sebbene bracco, gli pareva ostico. Per senso di carità ci sarebbe da
mettere l'esempio davanti gli occhi dei questori, assessori, apparitori,
e di altri siffatti tutori e curatori della pubblica sicurezza, ma è tempo
perso, mastini e questori non imparano mai nulla. Ai polli soprasta la
stella della strozzatura; ai tordi l'altra dello spiedo; agli sbirri, finchè
mondo è mondo, predomina l'astro della sassata e del bastone: così
vuole il destino!
Intanto il colosso si era vôlto alla terra traendo seco attanagliato il
prigioniero, mentre la turba gli moveva dietro con schiamazzi e
fischi. Curio e Filippo imbrancaronsi con gli altri, e curiosi di sapere la
cosa, interrogati quanti più poterono spillarono: il colosso venuto in
lite col mastino essere il capitale magistrato della terra, cioè lo
sceriffo; il prigione un indio bravo, il quale aveva allora allora fesso il
ventre a un povero giovane del Kentuky, che spazzando davanti la
porta del caffè dove stava per garzone, aveva per disgrazia buttato
un po' di spazzatura su le scarpe di lui; il popolo infellonito volere
mettere in pezzi l'omicida, che si era dato alla fuga per campare la
pelle, ma lo sceriffo, e più il cane, gli avevano tronco il disegno.
Lo sceriffo condusse (che senza offesa del vero non si potrebbe dire
strascinasse, dacchè l'indio andava così di buon grado che non
pareva fatto suo) il prigioniero dinanzi al cadavere del garzone, che
giaceva supino in mezzo della strada dentro una pozzanghera di
sangue, e di subito mise mano allo interrogatorio.
— Conosci questo uomo?
— Sì.
— Chi lo ha ammazzato?
— Io.
— Come puoi provare di averlo ammazzato?
— Hanno visto tutti.
— Si, si, abbiamo visto tutti, urlava la turba, benchè pochi fossero
quelli che si trovarono presenti al caso.
— Perchè?
— Perchè mi è parso di ammazzarlo; — perchè stamani ho bevuto
acqua di fuoco più del consueto; — perchè col buttarmi la spazzatura
addosso ha inteso insultarmi.
— Dunque tu convieni che devi essere punito?
— Siccome per conchiudere l'affare non è necessario il mio
consenso, così chiedo astenermi da rispondere.
— Come ti piace; ed ora, riprese a dire lo sceriffo volgendosi alla
turba, tutti quelli che giudicano doversi impiccare... come ti chiami?
— Che fa il nome alla cosa?
— Nulla; per la formalità, capisci!
— A Lampasas mi chiamavano Lumediluna.
— Sei cristiano?
— Si; mi battezzarono a Georgetown.
— E allora come t'imposero il nome?
— Dianoro Bermudez.
— Bene, prosegue lo sceriffo, tutti quelli che giudicano aversi a
impiccare Dianoro Bermudez, del paese di Lampasas, passino dal
mio lato sinistro.
Non uno rimase dal lato destro del degno sceriffo, perfino i fanciulli, i
quali per via della età quello che facessero ignoravano.
— Tu lo vedi da te, o Dianoro, che adesso ti tocca a pensare sul
serio di morire, disse lo sceriffo.
— È cosa vecchia; ci pensai da quando nacqui.
— L'uomo prudente è come la tavola degli osti, sta sempre
apparecchiato: possiamo andare.
Lo sceriffo s'incamminò verso la campagna; dietro lui Dianoro, e
dietro Dianoro le turbe; venuti allo aperto occorse loro un bello,
grande e forte cedro rosso, del quale si servono per fare le bacchette
ai lapis; lo sceriffo, dopo averlo ben bene squadrato, domandò:
— Dianoro, di' su, questo cedro non ti parrebbe al caso?
— Per me, me ne lavo le mani; io non ci entro.
— Ma... mi pareva che per qualche cosa ci entrassi anco tu.
Tacque il dabbene sceriffo, e presa senz'altro indugio la corda si mise
ad armeggiare per foggiarla a nodo scorsoio. Dianoro stava a
guardarlo tranquillamente, ma vedendo poi che non veniva a capo di
nulla, gli levò la corda di mano dicendo:
— Si conosce chiaro che voi non siete del mestiere; lasciate fare a
me.
E in un attimo annodò un cappio ch'era una delizia, e senza
spavalderia se lo adattava al collo da sè. Lo sceriffo, incantato, a
questo punto non si potè reggere, lo abbracciò forte forte e disse:
— Dianoro! Ti giuro sul mio onore che se non ti avessi a impiccare ti
piglierei per segretario; e ora, figlio mio, desideri nulla da me?
— Intendo dare un avvertimento al popolo e fare una preghiera a
voi; te, popolo, ammonisco che tu ti astenga dall'acqua arzente, o
almeno bevine con discrezione, massime la mattina a digiuno, se ti
preme non essere impiccato; se poi non te ne preme, è un'altra
cosa. A voi, signore sceriffo, mi raccomando che non mettiate il mio
nome pagano nè cristiano su i giornali della Contea, perchè non
vorrei lo risapesse mia madre e ne sentisse dispiacere: siccome io
non le ho dato veruna contentezza nel mondo, così vorrei che per
cagione mia non patisse dolore.
— Molto bene... benissimo... ti avanza nulla a desiderare da me?
— Nulla; potete lanciarmi nella eternità.
— Amen!
Dopo un minuto Dianoro ciondolava come un pendolo dal cedro
rosso, cullato soavemente dalla brezza vespertina.
Di facoltà per sostentare la vita Curio e Filippo non soffrirono
mancamento; all'opposto n'ebbero copia, ma ogni giorno più veniva
meno per loro la speranza di raccogliere in breve quanto bastasse
per tornare in Italia a ripigliarsi le dilette creature e condursele in
parte dove poter vivere e chiudere gli occhi in pace; la quale
persuasione, oltre ogni credere amara, li rendeva irrequieti,
scontenti, non fermi mai in un luogo, e sempre in traccia di fortune
di cui spiavano invano l'orma dinanzi a loro: arti e professioni
esercitarono tutte, sonatori, maestri di musica, di armi, di lingue, di
matematiche, massime medici, e veramente non ci era mestieri fior
di scienza per salire in fama di clinici solenni in coteste parti. Lascio
giudicarlo a voi; essi trovarono medici che ministravano ai tisici acido
solforico, per bruciare (così dicevano) i tubercoli polmonari; per
l'enteriti ordinavano cristei di cera lacca liquefatta, e cerusici che
senza tante giammengole segavano le braccia e le gambe con le
seghe dei falegnami. Da San Patricio ebbero a venirsene via
nottetempo a modo di fuggiaschi, fidati nelle gambe di cavalli mezzo
salvatichi chiamati mustanghi, e ciò perchè la gente del paese
intendeva ritenerli a forza, reputandoli santi, o almeno capaci di
operare miracoli: causa di questo convincimento fa che, essendo
scoppiato in coteste contrade il cholera, essi guarirono quanti ne
capitò loro sotto mano. Se il rimedio che adoperarono possa giovare
in Europa ignoro, in America faceva la mano di Dio: possano i miei
lettori andare sempre immuni dal tetro morbo, tamen per amore di
umanità io lo pongo qui; badiamo però, io non lo raccomando, chi
vuole lo sperimenti; suo cuore, suo consiglio: me ne rimetto in lui. —
Recipe un bicchiere da tavola di spirito canforato, e mescolavi dentro
venti gocce di laudano, pepe del buono quanto vuoi, e acqua di
Colonia; filtra per tela, e mandane giù; se ti riesce, almeno un terzo,
e ti dirò: bravo! Per completare la informazione, mi corre l'obbligo di
aggiungere che gl'infermi, conci a quel modo, spiccavano salti da
sfondare il soffitto, e poi giravano sopra sè stessi più veloci dei fusi
delle macchine da filare: non importa; guarivano, ed oltre alla salute
del corpo, nel dì del giudizio potevano sostenere di avere avuto un
acconto delle pene dello inferno.
— Ahimè! ahimè! come mi sento stracco, sospira Curio gittandosi giù
su l'erba in riva a un fiume; a cui Filippo:
— Abbiamo camminato tanto oggi! Riposati, figliuolo mio.
— O a me caro più del padre; non parlo del corpo io, bensì della
vita; il cervello mi sta inerte dentro il cranio come morto nella bara;
mi tocco il petto invano per sapere da qual parte io mi abbia il cuore:
— egli non mi palpita più; sono sazio di giorni.
— Ecco, questo ti avviene perchè ti lasci arrugginire dalla malinconia.
Dimmi, che fai tu perchè la ruggine non ti roda la carabina? Ogni
giorno che Dio mette in terra tu la strofini con la sua brava pomice e
col suo bravo olio. Ora, il coraggio è l'olio e la speranza la pomice
per la malinconia; e voi giovani sprecate questo olio col boccale,
come se aveste a condire la insalata per ventiquattro, sicchè non ve
ne avanza una goccia per la estrema unzione. Bada, Curio, molti
giovani, che con le armi in mano vinsero virtuosamente gli austriaci,
si lasciarono vincere dallo sbadiglio.
— Filippo, ricordo avere letto certa sentenza in un libro, credo nella
prefazione del Pellegrinaggio del giovane Aroldo, una sentenza la
quale diceva così: «L'universo è una maniera di libro, del quale ha
letto una pagina sola chi ha visto unicamente il suo paese. Io ne ho
voltate di molte, e mi sono apparse tutte cattive; però questo esame
mi è riuscito fruttuoso, imperciocchè, odiatore prima della mia patria,
quando ebbi considerato le ribalderie dei popoli in mezzo ai quali
sono vissuto, tornai ad amarla; e se dalle mie pellegrinazioni non
avessi ricavato benefizio, eccetto questo uno, non mi lagnerei delle
spese fatte, nè delle fatiche sofferte.» Veramente se il pellegrino
venne sincero a tale conchiusione, beato lui! Per me, sia che mi pigli
gli uomini nel vecchio o me li abbia a pigliare nel nuovo mondo, mi
paiono tutti fichi degni di penzolare dall'albero di Timone; e ormai
diffido trovarne quaggiù meglio nè peggio, sicchè vorrei insalutato
hospite uscirmene da questo mondo, dove non mi trattiene più nulla.
[15]
. . . . . amiamo or quando
Esser si puote riamati amando.
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