A Mathematical Introduction to Robotic Manipulation.pdf

李泽湘 运动学 动力学求解This chapter presents an introduction to the dynamics and control of robot manipulators. We derive the equations of motion for a general open-chain manipulator and, using the structure present in the dynam- ics, construct control laws for asymptotic tracking of a desired trajectory. In deriving the dynamics, we will make explicit use of twists for repre- senting the kinematics of the manipulator and explore the role that the kinematics play in the equations of motion. We assume some familiarity with dynamics and control of physical systems.