Where we are:
Chap 2 Configuration Space
2.1 DOF of a Rigid Body
2.2 DOF of a Robot
2.3 C-space: Topology and Representation
2.4 Configuration and Velocity Constraints
2.5 Task Space and Workspace
Chap 3 Rigid-Body Motions
Chap 4 Forward Kinematics
Chap 5 Velocity Kinematics and Statics
Chap 6 Inverse Kinematics
Chap 8 Dynamics of Open Chains
Chap 9 Trajectory Generation
Chap 11 Robot Control
Chap 13 Wheeled Mobile Robots
Modern Robotics, Lynch and Park, Cambridge University Press 1
Important concepts, symbols, and equations
• k independent holonomic constraints on reduce an n-dim C-space
to n−k dof.
=0
• Pfaffian constraints are constraints on velocity:
• If velocity constraints can be integrated to equivalent configuration constraints,
they are holonomic. If not, they are nonholonomic: they reduce the
dimension of the feasible velocities, but not the dimension of the C-space.
• Determining if constraints are holonomic or nonholonomic is sometimes difficult
(Chapter 13).
Modern Robotics, Lynch and Park, Cambridge University Press 2
Important concepts, symbols, and equations (cont.)
• The task space is the space in which a task is most naturally represented. It is
independent of a robot.
• The workspace is usually a specification of the reachable space by a robot (or
its wrist, or end-effector).
• Often defined in terms of (x,y,z) translational positions only.
• Sometimes the dexterous workspace is the set of translational positions
that can be reached with arbitrary orientation.
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dof?
What does the C-space look
like embedded in (q1,q2,q3,q4) ?
3R planar robot has its endpoint pinned by a
revolute joint, making a four-bar linkage. What could be an explicit
parameterization?
“loop-closure” equations
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disk rolling upright on a plane
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starting with n dof, add k holonomic constraints, m nonholonomic constraints
n=6 n=6
n=3
• a coin constrained to a wheel rolling on a line • a sphere touching
stand upright on a plane in the plane of the page a plane
• a coin constrained to roll • a sphere rolling on
upright on a plane a plane
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diff-drive mobile robot,
rolling without slipping
How many holonomic constraints k and nonholonomic constraints m?
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A slice of a position-only workspace for a typical
6R robot (here, the Mecademic Meca500)
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Task spaces for:
• manipulating a rigid object?
• operating a laser pointer?
• carrying a tray of glasses to keep them vertical?
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