Robot Kinematics and Dynamics Modeling
The robotic kinematics is essential for describing an end-effector’s position, orientation as well as motion of all the joints, while dynamics modeling is crucial for analyzing and synthesizing the dynamic behavior of robot. In this chapter, the kinematic
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Robot Kinematics and Dynamics Modeling
Abstract The robotic kinematics is essential for describing an end-effector’s position, orientation as well as motion of all the joints, while dynamics modeling is crucial for analyzing and synthesizing the dynamic behavior of robot. In this chapter, the kinematics and dynamics modeling procedures of the Baxter robot are investigated thoroughly. The robotic kinematics is briefly reviewed by highlighting its basic role in analyzing the motion of robot. By extracting the parameters from an URDF file, the kinematics model of the Baxter robot is built. Two experiments are performed to verify that the kinematics model matches the real robot. Next, the dynamics of robot is briefly introduced by highlighting its role in establishing the relation between the joint actuator torques and the resulting motion. The method for derivation of the Lagrange–Euler dynamics of the Baxter manipulator is presented, followed by experimental verification using data collected from the physical robot. The results show that the derived dynamics model is a good match to the real dynamics, with small errors in three different end-effector trajectories.
2.1 Kinematics Modeling of the Baxter® Robot 2.1.1 Introduction of Kinematics The robotic kinematics studies the motion of a robot mechanism regardless of forces and torque that cause it. It allows to compute the position and orientation of robot manipulator’s end-effector relative to the base of the manipulator as a function of the joint variables. Robotic kinematics is fundamental for designing and controlling a robot system. In order to deal with the complex geometry of a robot manipulator, the properly chosen coordinate frames are fixed to various parts of the mechanism and then we can formulate the relationships between these frames. The manipulator kinematics mainly studies how the locations of these frames change as the robot joints move. Kinematics focuses on position, velocity, acceleration, and an accurate kinematics model must be established in order to investigate the motion of a robot manipulator. Denavit–Hartenberg (DH) notations are widely used to describe the kinematic model © Science Press and Springer Science+Business Media Singapore 2016 C. Yang et al., Advanced Technologies in Modern Robotic Applications, DOI 10.1007/978-981-10-0830-6_2
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2 Robot Kinematics and Dynamics Modeling
of a robot. The DH formation for describing serial-link robot mechanism geometry has been established as a principal method for a roboticist [1]. Standard DH notations are used to create a kinematics model of robot. The fundamentals of serial-link robot kinematics and the DH notations are well explained in [2, 3]. In DH convention notation system, each link can be represented by two parameters, namely the link length ai and the link twist angle αi . The link twist angle αi indicates the axis twist angle of two adjacent joints i and i − 1. Joints are also described by two parameters, namely the link offset di , which indicates the distance from a link t
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