Documente Academic
Documente Profesional
Documente Cultură
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PREFA
Robotica, ca tiin i domeniu de cercetare multidisciplinar, se ocup cu studiul
teoretic i experimental al proceselor fizice i informaionale, care stau la baza funcionrii
roboilor. Pe baza acestora se stabilesc principiile fundamentale necesare modelrii,
proiectrii, implementrii i utilizrii roboilor industriali n cadrul proceselor tehnologice,
consacrate realizrii de produse performante, ntr-un timp ct mai scurt si cu costuri ct mai
reduse. Ca urmare, se impune dezvoltarea unor modele si algoritmi matematici, n ceea ce
privete comanda cinematic i dinamic a roboilor. Aceast lucrare se constituie ca o
monografie cu privire la mecanica avansat n robotic. n cuprinsul celor zece capitole ale
lucrrii, se dezvolt noiuni fundamentale privind funciile de comand geometric i cinematic,
aspecte legate de traiectoriile optime de micare, optimizarea parametrilor de distribuie a
maselor, precum i studiul dinamic al forelor generalizate motoare i ecuaiilor difereniale ce
exprim micarea mecanic a robotului. Pentru atingerea acestor deziderate, n lucrare sunt
apelate elemente de noutate tiinific, cum sunt matricele difereniale, funciile exponeniale de
matrice, funciile polinomiale de interpolare i energia acceleraiilor. Prin toate acestea, lucrarea
se constituie i ca un element de plecare pentru dezvoltarea de noi metode i algoritmi de calcul.
Primul capitol, intitulat sugestiv Structura mecanic a robotului prezint ntr-o form
lapidar noiuni legate de structura mecanic a unui robot industrial. Aceste noiuni sunt eseniale
pentru nelegerea corect a modelelor matematice i algoritmilor dezvoltai n capitolele urmtoare.
n cadrul capitolului doi intitulat Transformri matriceale n mecanica avansat, se
dezvolt conceptul de situare, iar pe baza acestuia se stabilesc expresiile de definiie pentru
matricele de rotaie (orientare). Un aspect esenial l constituie abordarea conceptului de orientare,
prin modelare direct i de comand, utiliznd rotaiile n jurul axelor fixe i mobile, precum i
rotaia generalizat. n cadrul aceluiai capitol sunt dezvoltate formulri i reformulri asupra
transformrilor omogene, care sunt eseniale n studiul matematic al structurilor mecanice de roboi.
Capitolul trei intitulat Modelarea geometric include principalii algoritmi clasici, bazai pe
matricele de situare, operatorii compui tip PG i tip DH. Algoritmii sunt consacrai ecuaiilor
geometriei directe i de comand a structurilor mecanice de roboi, fiind nsoii de cteva aplicaii.
Urmtorul capitol al lucrrii este intitulat Modelarea cinematic. Pentru nceput se
prezint expresiile de definiie ale parametrilor cinematici, dup care este dezvoltat o proprietate
esenial privind derivata matricei de rotaie. Aceast proprietate se utilizeaz pentru dezvoltarea
matricelor de transfer liniare i unghiulare. Un aspect fundamental al capitolului l constituie
matricele difereniale ale transformrilor omogene, precum i matricea Jacobian. Acestea
sunt consacrate att studiului cinematic, ct i stabilirii matricelor incluse n ecuaiile dinamicii.
LISTA DE SIMBOLURI
Simbolul utilizat
Semnificaia
(SMR)
(MGD)
(MGI)
(MCD)
(MCI)
(MEG)
(MEK)
(DM)
(PG)
(DH)
{q i ; i = 1 n}
{ = [q , i = 1 n] }
{
{
}
= [q , i = 1 n] }
poz
or
= [q i , i = 1 n]T
i
{ ( ) = [q = 0, i =1 n] }
0
O 0 x 0 y 0 z 0 {0 }
O i x i y i z i {}
i
{0} {}i
{T }
{G}
vectorul
coloan
al
coordonatelor
generalizate, de dimensiune (n 1) , din
fiecare cupl motoare a robotului;
vectorul
coloan
al
coordonatelor
generalizate pentru poziie;
vectorul
coloan
al
coordonatelor
generalizate pentru orientare;
vectorul
coloan
al
coordonatelor
generalizate n configuraia iniial a
robotului, unde {i = 1 n , n N }
sistemul de referin fix, ataat centrului
geometric al bazei fixe a structurii mecanice;
sistemul de referin mobil, ataat n centrul
cuplei fiecrui element cinetic
poziia i orientarea sistemului {}
i n raport
cu sistemul fix {0}; unde i = 1 (n +1)
sistemul de referin ataat sculei
Capitolul
Cap. 1-10
Cap. 2,3
Cap. 2,3
Cap. 4,8,9
Cap.4, 8,9
Cap.5
Cap.5
Cap.8,9
Cap.3
Cap. 1-10
Cap. 1-10
Cap.1-10
Cap. 1-10
Cap.1-10
Cap. 1-10
Cap.1-10
Cap. 1-10
Cap.1
Cap.1
10
{S}
{j } {}
i
{n + 1}
{x n +1 n;
{u }
{ [R], i = 1 (n +1)}
{ [R], {i; j} = 1 n}
j
i
0
urma matricei de orientare i [R ] (sau a unei
matrice oarecare) se calculeaz ca fiind suma Cap. 2-10
elementelor de pe diagonala principal
vectorul de poziie al originii sistemului {}
i n
Cap. 2-10
raport cu sistemul fix {0};
{ [R ] }
0
i
pi = [x i y i z i ]T
i =1 n
{ p , {i ; j} = 1 n }
j
ij
i = 1 n
i 1
ri = i 1pii1
i 1
)T
componentele carteziene, n
vectorului p i , pxij
= [ai 1 bi 1 ci 1 ]T
i 1 ie d (i0) i(0)
i 1 (0)
pii 1
{a
0
i
Trace
y n + 1 s ; z n + 1 a}
pyij
pzij
[mm]
ale
Cap. 2-10
{a
i ie d i(01) i(01)
a i (i 1 )
i (i 1 )
i(01)(i )
ie
{k ( ) = ( p ( ) / p ( ) ) }
0
0
Ai
0
Ai
{k ( ) , v ( ) }
i
{Ai ,
{e {
i = 1 (n +1)}
k i(0 ) q i i
i 1
i
{b , i = 1 n}
{e }
i
Ai q i
{M ( ) ,
0
vn
[R ]
0
i
i =1 n
j {T ; G ; S}
i = 1 (n + 1)
{ [T], i =1 (n +1)}
j
i [T ],
d i((0i )1 )
Cap. 3
Cap. 3
Cap. 3
Cap. 2-10
Cap. 5
Cap. 5
Cap. 5
Cap. 5
Cap. 5
12
{Tii 1G ,
i = 1 n}
{Tii 1D ,
i = 1 n}
{TG ,
{TD ,
{
{
i = 1 n +1}
i = 1 n +1}
[] []
i 1G
0
iG T , iG T ,
[] []
i 1D
0
iD T , iD T ,
0
n+1
[T],
{T
{sin q i
q
i = n +1
Txo1 , i = n + 1
x0 ,
{cos
}
i =1 n+1}
i =1 n+1
sq
cq
i
i
};
)T
j yi j xi j zi
{i ; j} = {T;G;S}
{ i ,
{
j
i = {T ; G; S}}
i 1 0
i
i 1
, {i ; j } = {T ;G;S}
{ ( ) =[
Cap. 3
Cap. 3
Cap. 3
Cap. 3
Cap.3
Cap.3
Cap.3-10
Cap.5
yi xi zi
i = {T ;G; S}
i1 i 1]T
Cap.2-10
Cap.2-10
Cap.2-10
raport cu sistemul fix {0}ataat bazei robotului;
vectorul ce exprim orientarea sistemului
Cap.2-10
i n raport cu un alt sistem, {j } ;
mobil {}
setul de parametri generalizai sau operatorii
compui de tip PG ce caracterizeaz orientarea Cap. 3
fiecrui sistem ataat n centrul cuplei motoare.
LISTA DE SIMBOLURI
{( ) X = f ( ), i = {T ;G;S}}
n0
{ X , {i ; j} = {T ;G;S}}
j
ij
{q i
= A tan 2 ( sq i ; cq i
{M , [ X
0
Xv
T
Vk ;
)}
k =1 m
]}
parametrilor
{(
0
ix
iy
iz
)}
ij
j&
j p&
pyij j p& zij
xij
{i ; j} = {T ;G;S}
)
T
Cap. 4
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
14
{ , {i; j} = {T ;G;S}}
j
ij
j
j
ijy j ijz
ijx
{i ; j} = {T ;G;S}
)
T
{q& i unde i = 1 n}
{q& i unde i = 1 n}
ij
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
generalizate din fiecare cupl a robotului.
vectorul coloan (n 1) al vitezelor
generalizate din fiecare cupl motoare a Cap. 4, 5,
robotului n micarea sistemului {}
i n raport 6, 8, 9, 10
cu sistemul de referin {j } ;
&&
X i , i = {T ;G;S}
{ X&& }
ij
{J ( );J&( );J ( )( ) }
T 1
{V[(t )] = [V i ,
vectorul
coloan
(6 1) al vitezelor
Cap. 4, 5,
operaionale, care exprim micarea sistemului
6, 8, 9, 10
{}
i n raport cu sistemul fix {0}
&
Xi , i = {T ;G;S}
&
X ij
i ,
vectorul vitezei unghiulare a sistemului {}
Cap. 4, 5,
n micarea acestuia n raport cu sistemul
{j } , vector proiectat pe sistemul mobil {j } ; 6, 8, 9, 10
i =1 n]}
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
8, 9, 10
Cap. 4,5,8
{[ (t )] = [i , i =1 n]}
{A[(t ); &(t )], i =1 n}
{Aij [ (t )], i = 1 n}
{Aijk [ (t )], i = 1 n}
{ R, n N}
{ T ( ) , i = 1 n}
n
i i 1
{ME (Vi );
i = 1 n}
{ME (J i );
i = 1 n}
{M XVQ }
{M C }
{MM }
{M }
{ i , i = 1 n}
{h i (t ), i = 1 n}
{h i ( ),
i = 1 n}
{f
{ i = hi hi 1 , i =1 n}
i
i *
Ii
i *
I pi
i
I psi
; i ni
Cap. 4,5,8
Cap. 4, 5,
6, 8, 9, 10
Cap. 4, 5,
6, 8, 9, 10
{}
{}
LISTA DE SIMBOLURI
Cap. 4,5,8
Cap. 4,5,8
Cap. 4,5,8
Cap. 4,5,8
Cap. 4,5,8
Cap. 4, 5,8
Cap. 6
Cap. 6
Cap. 6
Cap. 6
Cap. 6
Cap. 6
Cap. 6
Cap. 9, 10
Cap. 8, 9
Cap. 8, 9
Cap. 8, 9
16
{r,
0
{H ,
0
rC i , i = 1 n
i
Hi , i =1 n
{dri , rC , i = 1 n}
i
{ L ; L}
{F ; N }
i
{Q
i
i
{Q }
{Q }
i
; Qgi ; QSU
; Qfdi
i
s
i
m
{M ( )}
{M X ( )}
V ;&
C ;&
D ;&
&
E C ;
( )
& &&
EA ; ;
( )
; &
( )
&
H ;
Q pj
{ Pj }
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
()
energiei
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Cap. 9, 10
Percuia generalizat.
LISTA DE SIMBOLURI
Cap. 9, 10
Cap. 9, 10
Fig. 1.1
Din punct de vedere matematic, legturile dintre componentele de baz ale robotului se
realizeaz prin intermediul diferiilor algoritmi sau a funciilor de control. Interaciunea cu mediul
se realizeaz prin intermediul structurii mecanice a robotului (SMR). Aceasta se caracterizeaz
prin dou funcii fundamentale: poziia i orientarea obiectului manipulat n spaiul cartezian.
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
18
Geometria structurii mecanice a robotului este privit ca un sistem mecanic alctuit din
(n + 1) elemente cinetice. Dintre acestea, primul element, simbolizat cu (0 ) , reprezint baza
fix a robotului, n timp ce (i = 1 n ) reprezint numrul de elemente cinetice (elementele
mobile ale robotului). Studiul geometriei, cinematicii i dinamicii unui robot se realizeaz prin
intermediul sistemului mobil O i x i y i z i {}
i , ataat originii fiecrui element. Legtura fizic
dintre dou elemente nvecinate n cazul lanurilor cinematice nchise sau deschise este
asigurat prin intermediul cuplelor motoare de clasa a cincea, simbolizate, dup cum
urmeaz: {R rotatie (revolutie ) ;T translatie (prismatica)}. Cu ajutorul acestora pot fi
definite diferite structuri de roboi paraleli sau seriali. n studiul geometric, cinematic i dinamic
aceste cuple sunt privite ca legturi scleronome i olonome adic perfecte sub aspect mecanic.
( i + 1)
z i 1 z i
( i + 1)
(i ) y
i
zi
qi
O i 1 O i
x i 1
qi
xi
y i 1
a.
( i 1)
(i )
xi
Oi
( i 1)
x i 1
Fig. 1.2
yi
qi
y i 1
z i 1
O i 1
b.
= [q 1 q 2 K q i K q n 1 q n ] = [q i ; i = 1 n ]
(n1)
(1.1)
Expresia (1.1) reprezint vectorul coloan al coordonatelor generalizate, avnd rolul de a descrie
o anumit configuraie a robotului n spaiul configuraiilor, n conformitate cu principiile din
mecanica analitic. Expresia matriceal anterioar poate fi exprimat ntr-o form particular:
(0 ) = [q1 = 0 q 2 = 0 K q i = 0 K q n 1 = 0 q n = 0 ]T = [q i = 0 ; i = 1 n ]T . (1.2)
(n1 )
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
X =
(m1)
Vectorul
[X
0
X 2 K0 X j K 0 X m
] =[ X
T
; j = 1 m ;m n .
T
(1.3)
(m1)
Braul robotului
Efectorul final
Mecanismul de orientare
Baza fix
Fig. 1.3
Conform Fig.1.3, structura mecanic a robotului este alctuit din trei componente de
baz: mecanismul de poziionare (braul robotului sau mecanismul de generare a traiectoriei),
mecanismul de orientare (articulaia robotului), efectorul final (gripper al robotului sau mna).
Mecanismul de poziionare este numit i braul robotului sau mecanismul de
generare a traiectoriei. Acesta conine maximum trei grade de libertate. Acestea pot fi rotaii R
sau translaii T, sau o combinaie ntre acestea dou, n numr de 2 C 43 , cum ar fi de
exemplu: {3R ; 3T ; 2RT ; RTR ; 2TR ; T 2R ; TRT ; R2T } .Funcia principal a acestui mecanism
const n asigurarea unei poziii n spaiul cartezian (sistemul fix {0} ataat bazei fixe a
robotului), pentru un punct al obiectului manipulat denumit punct caracteristic, notat cu P.
! " #! #! $!
'
!%
'&
!(!)
(*
%
*
"
- * ,*
." /
* ' -*
0 ' ,*
!0 ! *1 $ % *# (! !* #!
$
!0 )!0
0!
$ *
!0 ! * 1 * 2
* % #! !)! !) 3 ! "! ! ! % ) *!
) 4 # * ) )! 5
) ) ! ,! ,6 1 ( )! ! 4 % *# (! !* #! #!
!
)
) 5* #! ! * !
*7
'
'
'
!*# !((!)
*
&
."
k n(0+1)T = (1 0 0 )
k n(0+1)T = (0 1 0 )
// x 0
k n(0+1)T = (0 0 1 )
// z 0
// y 0
(Tabelul 1.1)
a
n
s
n
s
// z 0
n
a
// y 0
// x 0
Schema cinematic. Conform lucrrilor [N01] i [N07], primul pas, pentru aplicarea
algoritmilor matematici de modelare geometric a unei structuri mecanice, const n
reprezentarea acesteia sub forma unei scheme cinematice. Aceasta pune n eviden
comportamentul geometric i cinematic al robotului. n acest sens vor fi utilizate matricele
(1.4) i (1.5) care conin datele de intrare i corespund configuraiei iniiale a robotului.
(0 )
(0)
(0 ) T
Mvn(0) = (pi ) p Ai p Ai
(n+1)6
i = 1 n +1
T
T
; = (pi(0) ) k i(0)
i = 1 n +1
)]
T
( )]
(1.4)
(1.5)
ki
(0 )
= p Ai
p Ai(0 )
i =1 n . Cei doi
vectori din (1.4) pot fi exprimai n raport cu sistemul fix {0} . Pentru i = n +1 , n expresia
(1.4), versorul k (0 ) poate lua o serie de valori, dup cum reiese i din Tabelul 1.1, unde sunt
n +1
22
1.3 Aplicaii
Se supun analizei trei tipuri de roboi i anume: RTT3R, 6R i 5R. Structura mecanic a
robotului RTT3R este reprezentata n Fig. 1.3, iar schema sa cinematic n Fig. 1.5. Pentru
robotul de tip 6R, structura mecanic i schema cinematic sunt reprezentate n Fig. 1.6
respectiv Fig. 1.7. Pentru robotul de tip 5R, structura mecanic i schema cinematic sunt
reprezentate cu figurile Fig. 1.8 i Fig. 1.9. Sunt definite matricele geometriei nominale i
matricele cuplelor, pentru toate cele trei structuri (a se vedea tabelele 1.2 - 1.9 de mai jos).
Element
i =1 7
1
2
3
4
5
6
7
Tipul cuplei
{R ; T }
R
T
T
R
R
R
(Tabelul 1.2)
k (0 )
M (0)
vn RTT3R
p (0 )T
i
0
0
55
55
55
55
55
<mm>
0
0
0
250
370
370
440
(0)
M C RTT3R
i =1 6
C i = {R ; T }
u = {x 0 ; y 0 ; z 0 }
85
270
270
270
230
270
310
3
0
0
1
1
0
0
1
0
0
0
0
0
1
0
(Tabelul 1.3)
z0
z0
y0
y0
z0
x0
z0
O0
y0
x0
1
1
0
0
1
0
0
Fig. 1.5
Element
i =1 7
1
2
3
4
5
6
7
(0 ) 6R
M vn
p (0 )T
Tipul
cuplei
{R ; T }
k i(0 )
<mm>
0
0
0
0
0
0
0
R
R
R
R
R
R
0
0
0
605
880
880
1100
520
900
1870
1870
1870
1870
1870
(Tabelul 1.4)
0
1
1
0
1
0
1
0
0
0
1
0
1
0
1
0
0
0
0
0
0
n
P
z0
O0
y0
x0
Fig. 1.6
i =1 6
C i = {R ; T }
u = {x 0 ; y 0 ; z 0 }
M C(0 ) 6R
(Tabelul 1.5)
5
z0
x0
x0
y0
x0
y0
24
Fig. 1.7
{min ; max}
min.
max.
M L 6R
q1
-17
93
Tabelul 1.6)
q2
q3
q4
q5
q6
-50
30
-50
40
-180
180
-120
120
0
360
Matricele ce conin datele de intrare, pentru structura de tip 5R supus analizei sunt
prezentate n tabelele care urmeaz. Ele vor fi utilizate n determinarea ecuaiilor geometriei,
cinematicii i dinamicii, ce caracterizeaz structura de tip 5R prezentat n cadrul Fig. 1.8.
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
i =1 6
1
2
3
4
5
6
Tipul cuplei
{R ; T }
R
R
R
R
R
(Tabelul 1.7)
M (0)
vn 5 R
0
0
55
55
55
55
p i(0 )T [mm]
0
0
0
250
370
440
k i(0 )
85
270
270
270
230
310
0
1
1
1
0
1
0
0
0
0
1
0
1
0
0
0
0
0
Fig. 1.8.
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
26
i =1 5
C i = {R ; T }
u = {x 0 ; y 0 ; z 0 }
M C(0) 5 R
l0
k2
k1
q1
x0
z0
x0
x0
x0
y0
l2
l1
(Tabelul 1.8)
l3
l4
l5
q2
k3
z0
{O}
q3
q4
k4
q5 k5
y0
Fig. 1.9.
Limite
{min ; max}
min.
max.
ML 5 R
q1
q2
-180
180
-30
135
(Tabelul 1.9)
q3
< >
-150
0
q4
q5
-90
-180
90
180
n figura 1.8, n partea superioar este prezentat structura mecanic a robotului de tip 5R, n
stnga jos, spaiul de lucru, iar alturat forma volumului acoperit de robot n timpul funcionrii. n
figura 1.9. este reprezentat schema cinematic (ntr-o form simplificat) a robotului de tip 5R
supus analizei. Aceast schem cinematic, precum i valorile introduse prin tabelele 1.8 i 1.9
vor fi utilizate ca date de intrare n vederea stabilirii ecuaiilor geometriei i cinematicii directe.
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
Tipul
cuplei
{R ; T }
Element
i =1 6
1
2
3
4
5
6
k i(0 )
<mm>
0
0
0
0
0
0
R
R
R
R
R
-
0
150
150
370
450
150
350
350
600
600
600
600
(Tabelul 1.10)
0
1
1
1
0
1
0
0
0
0
1
0
1
0
0
0
0
0
Structura mecanic a robotului de tip 5R, model FANUC LR Mate 100iB, spaiul de lucru
corespunztor i volumul acoperit de robot este reprezentat n cadrul figurilor de mai jos:
l3
l4
z3
z 4 z5
y3
l1
x3
z1
l0
z0
y4 y5
l2
z2
y1
x1
x4 x5
y2
x2
y0
x0
Fig. 1.10
i =1 5
C i = {R ; T }
u = {x 0 ; y 0 ; z 0 }
R
z0
ML 5 R
R
x0
Limite
q1
ML 5 R
q2
min.
-160
-92,5
{min ; max}
max.
160
92,5
(Tabelul 1.11)
4
R
x0
R
x0
R
y0
q3
< >
-182,5
q4
q5
-120
-200
182,5
(Tabelul 1.12)
120
200
28
Spaiul descris de
centrul de rotaie
al cuplei J4
Fig. 1.11
n Fig. 1.10, este prezentat structura mecanic (n form simplificat) a robotului FANUC cu 5
grade de libertate, model LR Mate 100Ib, iar n tabelele 1.11 i 1.12 sunt descrise axele dup
care are loc micarea, respectiv rotaiile maxime din cuplele robotului. n Fig. 1.11, este
reprezentat spaiul de lucru al robotului, precum i volumul acoperit de acesta n timpul funcionrii.
Schema cinematic, precum i valorile din tabelele 1.10 i 1.11 vor fi utilizate ca date de intrare
pentru stabilirea ecuaiilor geometriei i cinematicii directe, precum i a ecuaiilor dinamicii robotului.
Capitolul 1 STRUCTURA MECANIC A ROBOTULUI
i
Pi
ORG
i
(i )0 rP (i )
p
T
p i
T
(i )
(i ) T
i
i
(2.2)
(i ) = xP yP zP ; i = px py pz ; 0 = p x p y p z ;
[ P ]
pPi
[ P]
j p i = j ri j x i
j
=
j
[
O
]
i ORG
p xi
j
j
yi
p yi
p =0 r 0
i i xi
;
=
T 0
j
[
]
O
p zi i ORG
pxi
zi
yi
pyi
zi
pzi
]
T
]T
(2.3)
x i = = x i y 0 ; y i = = y Ti y 0 ; z i = = z iT y 0 .
(2.4)
T
T
x T z
y z
z z
ix i 0
iy
iz
i 0
i 0
ntruct sistemul {}
i este triortogonal i drept orientat, (2.4) poate fi exprimat sub forma:
x Ti x 0
0
T
x i = = x i y 0 = y i z i = iy
T
iy
ix x i z 0
iy
0
iy
iy
iy iz iy iz
iy = iz iy iy iz
0 iz iy iz iz iy
T
0 iz iz iz ix iz ix
y i x0
T
y i = = y i y 0 = zi x i = iz
0 iz = ix iz iz ix
y T z
0 ix iz ix ix iz
iy i 0
iz iz
T
zi x0
0 ix ix ix iy ix iy
T
zi = = zi y0 = xi yi = ix
0 ix = iy ix ix iy ;
zT z
0 iy ix iy iy ix
iz i 0
ix ix
(2.5)
sistemul mobil {}
i , din relaia (2.2), este exprimat prin: i pPi = i x P
yP
z P . Poziia
T
(
(
(
)
)
)
(
(
(
)
)
)
(
(
(
)
)
)
x p i p PiT x 0 i x p x iT x 0 + i y p y Ti x 0 + i z p z iT x 0
p pi = y p = i p PiT y 0 = i x p x Ti y 0 + i y p y Ti y 0 + i z p z iT y 0 ;
z p i p PiT z 0 i x x T z + i y y T z + i z z T z
p
i
0
p
i
0
p i 0
(2.6)
n (2.6), sunt incluse i cosinusurile directoare definite cu relaiile (2.4) i (2.5). Prin
introducerea lor ntr-o matrice ptrat, (2.6) se obine urmtoarea identitate matriceal:
i
i xp
x p
x p
i
i
p pi = y p =
(2.7)
y p = [x i y i z i ] y p ;
i z
iz
z p
iy iz p
ix
p
Matricea (3 3 ) din (2.7), ale crei componente sunt nou cosinusuri directoare, ce
caracterizeaz orientarea fiecrei axe a lui {}
i fa de {0} , se numete matrice de orientare:
0i [R ]
[x i y i z i ]
=
=
R i 0 [y i z i z i x i x i y i ]
ix
iy
.
iz
(2.8)
yi
x T x y T x z T x
i 0 i 0 i 0
z i ] = x iT y 0 y Ti y 0 z iT y 0 .
x iT z 0 y Ti z 0 z iT z 0
(2.9)
Matricea de rotaie sau matricea cosinusurilor directoare, descrie orientarea fiecrei axe a
sistemului mobil {}
i n raport cu sistemul {0} . Conform [N17], ntre cele nou cosinusuri
directoare exist ase relaii matematice, de legtur, dup cum se poate observa mai jos:
ij ik + ij ik + ij ik = jk ; jk = {{1; j = k}
{0 ; j k}};
j = {x ; y ; z}
.
k = {x ; y ; z}
(2.10)
Cele ase relaii dintre cosinusurile directoare pot fi exprimate i n form matriceal, astfel:
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
T
T
(2.11)
y i [x i y i z i ] = y i x i y i y i y i z i = 0 1 0 .
T
T
z T
z T x
0 0 1
zi y i zi zi
i
i
i
Din relaiile (2.10) sau (2.11), rezult c orientarea sistemului {}
i n raport cu {0} este
caracterizat prin maximum trei parametri independeni, reprezentnd setul de unghiuri de
orientare. Aceste unghiuri sunt componentele vectorului de orientare, definit prin expresia:
(2.12)
A = {x ; y ; z}; B = {y ; z ; x}; C = {z ; x ; y } .
Aadar, orientarea oricrui sistem n raport cu un altul presupus fix sau relativ fix se poate
determina pe baza setului de unghiuri de orientare, ale cror valori i axe de rotaie nu se aleg
n mod aleatoriu, dup cum va rezulta i din urmtoarele paragrafe referitoare la acest subiect.
n concluzie, conform conceptului de situare, cunoscut i sub numele de conceptul de
poziie-orientare, numrul maxim de parametri geometrici ce caracterizeaz poziia i
orientarea unui sistem {}
i n raport cu {0} sau { j } {}
i , este egal cu ase. Conform cu
(2.1), (2.3) sau (2.12), aceti parametri pot fi inclui ntr-o matrice coloan (6 1) , rezultnd:
( j ) = ( j )
A
( j )
( j )
[
[
]
]
(j ) (j )
(j)p
(j)p T
p(i ) px (i )
y (i )
z (i )
........... = .....................................................
( j )0 X = ( j )0 X ; ( j )0 X =
;
(2.13)
(i )
(i ) ( j ) ( j )
( j )
( j ) T
(61) (61) (61) (i ) A (i )
B (i )
C (i )
(j)
unde X (i ) este vectorul coloan al coordonatelor operaionale. Dintre acestea, primele
trei reprezint poziia, iar ultimele trei exprim orientarea sistemului {}
i n raport cu un alt
sistem: fix {0} sau mobil { j } {}
i , ataate structurii mecanice a robotului (SMR) analizat.
0
i
operaionale 0 X i
exprim cu relaiile (2.1) sau (2.3). Se cere, s se determine poziia punctului P n raport cu
sistemul {0} . Din Fig. 2.1, pe baza relaiei (2.7), se pot determina expresiile ce
caracterizeaz vectorul de poziie p = 0 [P ] , precum i matricele de transfer, sub forma:
(2.14)
p Pi = 0i [R ] i p Pi ; 0 [ P ]= 0 [O i ]ORG + 0i [R ] i p Pi .
Matricea de transfer (2.14) include cele dou transformri rezultante ce caracterizeaz
poziia i orientarea: translaia rezultant a vectorului de poziie p i = 0 [O i ]ORG i rotaia
p = p i + p Pi ;
0
i
i
i
i
( j )0 [ ]
=
=
R
(2.15)
i
( j) ( j)
( j ) z ( j ) x ( j ) x ( j ) y
i
i
i
i
y i zi
iy
iz
ix
n Fig. 2.1 se observ c sistemele: {0} i {}
i sau { j } {}
i i {}
i , luate n studiu, au
p i = j [O i ]ORG = 0 3 . Ca
urmare, expresia matriceal de transfer (2.14) se modific dup cum se arat n continuare:
(j)
( j)
i
( j) ( j)
px
( j )0 [P ] ( j )0i [R ] i [P ] px
i
(j)
( j ) = ( j )0
; py =
(2.16)
py .
i
p
i p
i [R ] p
( j ) pz
iy
iz z
ix
u i = {x i
z i } = [ (u i ; x 0 ) (u i ; y 0 ) (u i ; z0 ) ] T ;
u i = {x i y i z i }
ui ={xi ; yi ; zi } = ; u i = {x i y i z i } =
;
u i = {x i ; y i ; z i }
iu
y i
(2.17)
(2.18)
zi
qi
z0
O0 = O i
qi
zi
z0
qi
qi
qi
x0
x0
yi
xi
xi
z0
w0 = x0
y
0
y0
Fig. 2.2
y i
v i = zi
x
i
qi
yi
O0 = O i
x0
b.
a.
zi
xi = wi
y
i
qi
y0
O0 = Oi
zi
yi
z0
y0
qi
qi
xi
c.
ui = y i
y 0 = u0
scop, conform Fig. 2.2.a, asupra
z
z
0
i
elementului cinetic (i ) se aplic o
rotaie simpl n jurul axei
Fig. 2.3
x i = x 0 , sub unghiul = q i ,
unde q i este coordonata unghiular a cuplei de rotaie. n urma acestei transformri, axa
x i i menine orientarea fa de axa x 0 , n timp ce axele y i i z i se rotesc cu unghiul q i
n planul fix x 0 = 0 . Ca urmare, noua stare a sistemului mobil {}
i , n raport cu {0} , va fi
descris prin intermediul urmtoarelor unghiuri, cosinusuri directoare i versori ai axelor:
0
x i = 2 ;
2
qi
1
x i = = 0 ;
ix 0
[0 / 2 / 2 ]T
xi =
;
T
[1 0 0 ]
(2.19)
y i = qi ;
2 q i
0
[ / 2 q i / 2 q i ]T
y i = = cq i ; y i =
;
T
[
0
cq
sq
]
i
i
iy sq i
(2.20)
2
0
T
sq ; = [ / 2 / 2 + q i q i ] .
=
+
;
.
z
=
2
q
zi
(2.21)
i
i
i zi
[
0
sq
cq
]
i
i
q i
iz cq i
Versorii u i = {x i ; y i ; z i } cu componentele lor, reprezentate de cosinusurile directoare i
exprimate prin (2.19), (2.20) i (2.21), se nlocuiesc n expresia (2.15) rezultnd urmtoarele:
0
1 0
0i [R ] R( x ; q i )
(2.22)
=
=
= 0 cq i sq i .
0 sq
R i 0 [x i y i z i ]
cq i
i
ix iy iz
Noua expresie obinut mai sus definete matricea de rotaie simpl n jurul axei x cu
unghiul = q i . Dac axa motoare este definit prin x , orientarea dintre cele dou sisteme
cu origine comun: {0} i {}
i va fi dat de matricea de rotaie prezentata mai sus prin (2.22).
n continuare, lund n considerare aspectele prezentate n Fig.2.2.b. va fi definit
matricea de rotaie n jurul axei y . n acest caz axa motoare a cuplei de rotaie este
y i = y 0 . Aplicnd o rotaie simpl asupra elementului (i ) , cu unghiul = q i , se observ
c axa y i menine orientarea axei fixe y 0 , celelalte dou axe: x i i z i fiind rotite n planul
fix y 0 = 0 cu = q i . Noua stare a axelor sistemului {}
i , n raport cu sistemul fix {0} este:
qi
cq i
[q i / 2 / 2 + q i ]T
x i = 2 ; xi = = 0 ; x i =
;
T
[
cq
0
sq
]
i
i
2 + q i
ix sq i
2
0
[ / 2 0 / 2 ]T
yi = = 1 ;
yi =
yi = 0 ;
;
T
[
]
sq
0
cq
i
i
iy 0
2
(2.23)
(2.24)
2 q i
sq i
[ / 2 q i / 2 q i ]T
(2.25)
z i = 2 ;.. z i = = 0 ; z i =
.
T
[
sq
0
cq
]
i
i
q i
iz cq i
Versorii i cosinusurile directoare din (2.23), (2.24) i (2.25), sunt nlocuite n (2.15), astfel:
cq i 0 sq i
0 [R ] R (y ; q i )
i
1 0 .
= 0
(2.26)
=
=
sq 0 cq
[x i y i z i ]
Ri0
i
i
ix iy iz
x i = 2 q i ; x i = = sq i ; x i =
;
T
[
cq
sq
0
]
i
i
2
ix 0
sq i
2 + q i
[ / 2 + q i q i / 2 ]T
y i = q i ; y i = = cq i ; y i =
;
T
[
sq
cq
0
]
i
i
2
iy 0
(2.27)
(2.28)
0
[ / 2 / 2 0 ]T
z i = = 0 ;
zi =
.
(2.29)
T
[
]
0
0
1
1
iz
n expresia general (2.15) vor fi nlocuite expresiile (2.27), (2.28) i (2.29), rezultnd astfel:
cq i sq i 0
0i [R ] R (z ; q i )
(2.30)
= sq i cq i 0 .
=
=
[
]
x
y
z
i
i
R i 0 i
0
1
ix iy iz 0
Expresia de definiie mai sus scris este expresia matricei de rotaie simpl n jurul axei z .
Ca i n primele dou cazuri, = q i este singurul parametru independent ce caracterizeaz rotaia.
Observaii: Proprietile matricelor de rotaie i ale vectorilor coloan sunt prezentate mai jos.
Determinantul asociat oricrei matrice de rotaie (2.15) este ntotdeauna identic cu:
Det ( j )0 [R ] = ( j ) 2 + ( j ) 2 + ( j ) 2 = ( j ) 2 + ( j ) 2 + ( j ) 2 = ( j ) 2 + ( j ) 2+ ( j ) 2= 1 . (2.31)
z i = 2 ;
0
ix
iy
iz
ix
iy
iz
ix
iy
iz
Astfel, toate matricele de orientare, definite n acest paragraf, sunt ortogonale i unitare.
Din (2.31) rezult c inversa matricei de rotaie este ntotdeauna egala cu transpusa ei:
T
( j ) ( j ) ( j ) ( j ) ( j ) ( j )
(
j
)
0
1
[R]
ix ix ix ix ix ix
i
= iy iy iy = iy iy iy . (2.32)
( j )0 T =
[
]
R
iz iz iz iz iz iz iz
ix iy
R
=
R
[
]
x
y
z
i0 i
i
i
i0
iz
ix
iy
iz
ix
iy
iz
1
0
= 0 cq i
0 sq i
0i [R ]1 {R (y ; q i )}1 ix
1
=
= iy
T
T
R i 0 = R i 0
[x i y i z i ]
iz
ix
iy
iz
ix
iy
iz
cq i
= 0
sq i
0
sq i ; (2.33)
cq i
0 sq i
1
0 ; (2.34)
0 cq i
cq
sq i 0
0i [R ]1 {R (z ; q i )}1 ix ix ix i
1
=
= iy iy iy = sq i cq i 0 . (2.35)
T
T
Ri0 = Ri0
[x i y i z i ]
0
0 1
iz iz iz
Inversele matricelor de rotaie descriu orientarea fiecrui sistem {0} sau { j } {}
i , fa de {}
i .
Pe baza relaiilor (2.10) i (2.11) rezult c produsul matriceal dintre matricea de rotaie
i transpusa ei este ntotdeauna matricea unitate, prezentat mai jos sub form dezvoltat:
1 0 0
( j )0
( j )0
T ( j )0
T ( j )0
1 0 .
(2.36)
i [R ]
i [R ]
i [R ]
i [R ] I 3 = 0
0 0 1
Urma oricrei matrice ptratice este definit ca suma elementelor de pe diagonala principal.
Pentru a evidenia aceast proprietate important, se va lua drept exemplu matricea de mai jos:
(j)
(j)
( j )
Trace ( j )0 [R]
(j)
i
(j)
(j)
= Trace
= ix + iy + iz . (2.37)
( j )0
Tr i [R]
iy
iz
ix
uz
0
ux
uy
0
uy
T
u x , transpusa ei fiind: {u } = u z
uy
0
uz
ux
uy
ux .
0
(2.38)
link i 1
q i 1
Oi
Oi 1
{i 1}
Oi +1
{i}
q i +1
{i + 1}
qn
{n}
pn
{0}
Fig. 2.4
(2.39)
p = i 1i [R ] i p . Expresia poate fi scris i sub forma: i 1 [P ]= i 1i [R ] i [P ] .
n continuare, expresia de mai sus poate fi extins pentru ntreaga structur a robotului.
Astfel, expresia (2.39) va fi aplicat pentru i = 1 n , dup cum este prezentat mai jos:
i 1
p = 01 [R ]1 p ; 1 p = 21 [R ] 2 p ;
0
[P ]= 01 [R ]1 [P ]; 1 [P ]= 21 [R ]2 [P ];
i 1
p = i 1i [R ] i p ;
i 1
[P ]= i 1i [R ] i [P ];
.
n 1
[P ]= nn1 [R ] n [P ]
n 1
p = n n1 [R ] n p
(2.40)
p 01 [R ] 21 [R ] i 1i [R ] n n1 [R ] n p
p 0n [R ] n p
=
;
(2.41)
0 0
0 = 0
;
n
[P ] 1 [R ] 21 [R ] i 1i [R ] n n1 [R ] n [P ]
[
R
]
[
P
]
[P ]
n
Cele dou expresii prezentate mai sus sunt identice. Se observ c produsul matriceal
dintre cele n matrice de rotaie simpl este nlocuit de o matrice rezultant, definit astfel:
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
i [R ] (q i )
i =1
0
= [x n
n [R ] = n
R (u ; q )
i
i
i =1
yn
z n ] =
nx
ny
.
nz
(2.42)
1
0
2
2
1
i
i
i 1
n
n
n1
[
P
]
=
[
R
]
[
P
]
;
[
P
]
=
[
R
]
[
P
]
;
[
P
]
=
[
R
]
[
P
]
;
[
P
]
=
[
R
]
[
P
]
0
1
i 1
n 1
Vectorul de poziie n 1 p = n 1 [P ] este substituit, prin expresia general (2.43), n ultima variant
(2.44), pentru orice i = n 2 . Expresiile matriceale pentru vectorul de poziie sunt:
n p n n1 [R ]L i 1i [R ]L 21 [R ]01 [R ] p n p 0n [R ] p
(2.45)
n = n
;
=
;
[P ] n 1 [R ]L i 1i [R ]L 21 [R ]01 [R ]0 [P ] n [P ] 0n [R ] 0 [P ]
Expresia (2.44) arat transferul vectorului de poziie p = 0 [P ] din {0} n sistemul mobil {n} .
Produsul dintre cele n matrice de rotaie poate fi nlocuit de matricea rezultant, astfel:
1 i
[
R ](q i ) x nT nx nx nx
1
n
i =n
T
0 [R ]
(2.46)
0 1 0 T = 1
= y n = ny ny ny .
n [R ] = n [R ]
{R (u ; q )}1 z nT
i
i
nz nz nz
i =n
Expresia (2.46) reprezint inversa matricei de rotaie rezultant dintre sistemele {n} {0} .
Observaii: Orientarea final a oricrui sistem de referin n raport cu un sistem fix este
caracterizat de maximum trei parametri independeni. Aplicnd algoritmii geometrici inclui
n modelul geometric direct, poate fi determinat matricea de rotaie rezultant, a crei
expresie general este (2.15). Pe baza modelului invers pentru orientare se poate
determina fiecare set de parametri independeni ai orientrii. n acest scop, n cadrul
urmtoarelor paragrafe se vor prezenta cteva metode geometrice consacrate orientrii,
cum sunt: rotaii n jurul axelor fixe, rotaii n jurul axelor mobile sau rotaia generalizat.
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
Ordinul de rotaie
A doua ax
A treia ax
(B)
(C)
y
z
z
x
x
y
(Tabelul 2.1)
Tipul matricei de orientare
Axe mobile
Axe fixe
R ( A B C )
R ( A B C )
(
)
R ( x y x )
R x y z
R ( x z x )
R ( x z x )
(
)
R ( y z x )
R ( y z y )
R ( y x y )
R ( y x z )
R ( z x y )
R z y z
(
)
R ( x y x )
R x y z
R x z y
R ( z x z )
(
)
R ( z y x )
(
)
R ( y z x )
R ( y z y )
R ( y x y )
R ( y x z )
R ( z x y )
R x z y
R ( z x z )
(
)
R ( z y x )
R z y z
[P0 ] = [ p x 0
p y 0 p z0
]T ;
[ P ] = [i p x
py i pz
O0 O i
i
px
x0
[P 0 ]= i [ P ] .
{i 0 } R( z ; z )
P0 LLL
0
0 [P ]
0
i1 [R ]
z0
i
(2.49)
{i1 }
P1 . (2.50)
0 [ P ]
1
z0
z
pz
{i 0 }
pz
p0
i
py
y0
{0}
x0
a.
O0 O i
px
py
b.
Fig. 2.4
y0
py0 +z z pz0 0
z
px0 z
=
2
2 ; =2
2 ; = 2 2 .
p
p
T
x0 [ c s 0 ] y0
T pz0
T
z
z
[0 0 1]
[ sz cz 0 ]
(2.51)
i
i
1
0
1 pz
Mai sus, expresia matricei de rotaie (2.30) a fost, de asemenea, luat n considerare.
px c z
1
0
[P1 ] = py1 = s z
p 0
z1
Observaie: Rezult c aplicarea unei rotaii simple ntre sistemele: {0} {i 0 } i {i1 } este
z i1
pz1
{i1}
O0 O i
px1
z0
y i1
P1
p1
p y1
y0
x i1
p y1
O0 O i
x0
a.
Fig. 2.5
y
y
b.
innd cont de (2.17) i Fig. 2.5.b, noua stare a componentelor vectorului de poziie
px y + y p y1
;
1 =
2 2
px
1 c 0 s T p y1
y
y
y0
px1
{0}
x0
pz1
0 pz1
y
y
= 2
2
2 ; =2
[0 1 0 ] T pz1 s 0 c T
y
[P1 ] este:
(2.54)
p x c y
2
[P2 ] = p y2 = 0
p s
y
z2
0 s y p x1
1 0 p y1 ;
0 c y p z1
R y ; y 0 [P1 ]
[P2 ] = 0 0
.
i2 [R ] [P1 ]
(2.55)
cy 0 sy c z s z 0
R y ; R(z ; ) i [P]
[P2 ] = 0 1 0 s z c z 00 [P1 ] ; 0[P2 ] = 0 y 0 iz
(2.56)
.
[
]
[
]
[
]
R
i
i
1
2
sy 0 cy 0
0
1
Observaie: Aplicnd sistemului {i1 } o rotaie simpl n jurul unei axe fixe, acesta va trece
ntr-o nou stare {i 2 } . Din punct de vedere matematic, aceasta este reprezentat de
i1
i
[R ] .
p z2
{i 2 }
O0 Oi
x0
p2
P2
{0}
pz2
y i2
py 2
x i2
{i 3 }
P3 .(2.57)
0 [P ]
3
z0
x
z i2
px 2
{i 2 } R( x ; x )
P2 LLL
0
0 [P ]
2
i3 [R ]
y0
py 2
O0 Oi
px 2
a.
x0
Fig. 2.6
b.
y0
P2
T
= 2 2 ; = 2
;
(2.58)
2
.
= 2 2
p
x2 [ 1 0 0 ]T py2 [ 0 c s ]T pz2 [ 0 s c ]T
x
x
x
x
Conform Fig. 2.6.b vectorul de poziie i componentele sale vor fi proiectate pe axele
sistemului fix. Poziia final a punctului P3 , exprimat n Fig. 2.7, este determinat astfel:
T
p x3 1 0
0 p x2
R ( x ; x )0 [P2 ]
0
[P3 ] = 0 0
[P3 ] = p y 3 = 0 c x s x p y 2 ;
(2.59)
.
i3 [R ] [P2 ]
p z 0 s x c x p z
2
3
Expresia (2.59) evideniaz matricea de rotaie simpl n jurul axei x , n mod identic cu (2.22).
0
[P ]= i [R ] [P ]
R ( z y x ) i [P ]
z0
zi3
y i3
pz3
P3
{i3 }
py 3
O0 Oi
px3
x0
{0}
x i3
Fig. 2.7
y0
i3
i1
R z y x
0 c y
s x 0
c x s y
1 0
= 0 c x
0 s x
0 s y c z
1 0 s z
0 c y 0
s z
c z
0
0
0 ; (2.62)
1
cy s z
cy c z
sy
R z y x = sx sy c z + cx s z sx sy s z + cx c z sx cy . (2.63)
cx sy c z + sx s z cx sy s z + sx c z cx cy
z0
x
pz
P0
p0
O0 O i
i
x0
z i2
y i2
y i1
x0
O0 O i
x i1
x i2
x0
P2
x
z i2
P3
y i3
Fig. 2.8
y i2
y i1 x
z i3
y0
x0
c.
b.
z0
z i1
y0
O0 O i
x i1
P1
y i1
y0
a.
z0
z i1
py
{i }
{0}
px
z i1
O0 O i
x i1
y
x i2
y0
x i3
d.
Unghiurile de rotaie i axele sunt identice cu cele prezentate anterior, numai c rotaia se
efectueaz n jurul axelor mobile. n continuare, va fi analizat matricea de rotaie de tipul:
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
)T .
{i 0 } R(x ; x )
P0
L
0
0 [P ]i [P]
0
i1 [R]
{i1 }
P1 (2.64)
0 [P ]
1
px 1 0
0 i px
1
0
[P1 ] = py1 = 0 cx sx i py .
p 0 s
cx i pz
x
z1
R (x ; x ) i [P ]
0
[P1 ] = 0 i
;
i1 [R ] [P ]
{i1 } R y ; y
P1 L
i1
0 [P ]
[R ]
1
i2
(2.65)
{i 2 }
(2.66)
P2
i1 [P ]0 [P ]
2
2
Transformarea simpl are loc ntre sistemele {i1 } i {i 2 } . n final, se va determina poziia
punctului P2 fa de {i1 } , i apoi fa de sistemul {0} . n acest sens, se vor utiliza matricele:
i1 px c
y
R y ; y i [P]
2
i1
[P2 ] = i1 i ; i1 [P2 ] = i1 py2 = 0
[R] [P]
i1 s
i2
p
z2 y
nlocuind prima expresie din (2.67) n a treia,
R(x ; ) R y ; i [P]
[P2 ] = 0 x i1 i y ;
i1 [R] i2 [R] [P]
0 sy i px
0
0
i
1 0 i py ; [P2 ]= i1 [R ] 1 [P2 ] . (2.67)
0 cy i pz
poziia punctului P2 n raport cu {0} este:
0 cy 0 sy
1 0
[P2 ] = 0 cx sx 0 1 0 i [P] .
0 sx cx sy 0 cy
(2.68)
Cea de a treia rotaie simpl se aplic n jurul axei mobile z i2 z i3 sub unghiul z .
R (z ; z )
P2
LL
i2
i1 [P ] 0 [P ]
[R ]
2
2
i
3
.
P3 P
(2.69)
i 2 [P ] i1 [P ] 0 [P ]
3
3
3
R
(
z
;
[
P
]
i i1
i2
i1
0
i2
z
i2
[
R
]
[
P
]
i
i
i
2p
3
3
0
0 1 pz
i1
z3
0 [R ] i1 [R ] i 2 [R ] i [P ] R (x ; x ) R y ; y R (z ; z ) i [P ]
[P3 ] = i1 0 i2 0 i3 i
(2.70)
=
.
i
[
]
[
]
[
]
P
=
R
P
[
]
R
i
x
y
z
{(
Funcia A tan 2 este mai stabil n raport cu celelalte dou i anume: Arc sin i Arc cos .
Intervalul de definire a funciei este: [ ; ] . Aceast funcie invers ine cont de semnul
s i c . n final, funcia A tan 2 stabilete valoarea unghiurilor n funcie de semnul
argumentelor n cadranul corespunztor, prin aceste unghiuri realizndu-se comanda
orientrii. Cele trei unghiuri independente de rotaie se determin pe baza condiiei de a aduce
elementul cinetic din orientarea iniial n starea final. Se scrie urmtoarea identitate matriceal:
R z y x 0
(2.72)
;
i [R ] = [x i y i z i ] =
R x y z
ix iy iz
(
(
)
)
cy c z
cy s z
sy
sx sy c z + cx s z sx sy s z + cx c z sx cy
cx sy c z + sx s z cx sy s z + sx c z cx cy
ix
iy
.
iz
s y = iz = { ( 1 ; + 1 ) ; 1 } ;
(2.73)
unde iz reprezint cosinusul director, definit prin valori numerice. Necunoscuta y este unghiul
de orientare. Pentru determinarea celor trei necunoscute, se consider dou cazuri posibile.
(2.74)
1
1
1
iz ;
iz ;
iz ; x = A tan 2
iz ; c x =
c y
c y
c y
c y
1
iy ;
c y
c z =
1
1
iy ;
ix .
ix ; z = A tan 2
c y
c y
c y
(2.75)
(2.76)
prin (2.75) i (2.76) sunt degenerate, matematic, prin mprirea lor cu zero i n acest fel
comanda orientrii este blocat. Aceast stare, poarta numele de singularitate geometric,
iar o soluie posibil este z = 0 . Valoarea este nlocuit n identitatea matriceal (2.72).
Utiliznd (2 ; 2 ) i (3 ; 2 ) , se obine n acest caz, valoarea unghiului de orientare x , adic:
( s x sy s z + c x c z ) z =0 = iy ; (c x sy s z + s x c z ) z =0 = iy ;
= A tan 2
iy
iy
).
(2.77)
(2.78)
Observaii: n anumite cazuri, varianta de mai sus nu poate fi aplicat. Cnd apare o
asemenea situaie, cazul general propune alegerea altei matrice de rotaie rezultant din
tabelul (2.1). Generaliznd modelul geometric direct i invers, pentru cele dousprezece
matrice de orientare, se obin rezultate importante ce privesc att expresiile de definiie a
matricelor de rotaie rezultant ct i expresiile pentru unghiurile de orientare, n cele dou
cazuri prezentate mai sus. Aceste expresii sunt incluse n tabelul prezentat mai jos:
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
(
(
R x ; y ;z
R z ; y ; x
)
)
Se cunoate
0
i
[R ]
Restricii
ix ( 1;1)
c z cy
s z cy
sy
c z sy c x + s z s x
s z sy c x c z s x
cy s x
cy c x
Identitatea matriceal
R ( x ; y ; z )
=
R ( z ; y ; x )
ix iy iz
Expresiile unghiurilor de orientare
y
z
x
c z sy s x s z c x
s z sy s x + c z c x
A tan 2 ix ; ix
c y c y
(
(
)
)
Se cunoate
0
i
[R ]
Restricii
ix ( 1;1 )
ix = 1
Arc sin e ( ix )
iy iz
A tan 2
;
c y c y
A tan 2 iz ; iz
s
y
m / 2
Tipul matricei
R x ; y ;x
R x ; y ; x
ix = 1
(Tabelul 2.2)
Expresia de definiie
R (z ; z ) R (y ; y ) R ( x ; x )
(Tabelul 2.3)
Expresia de definiie
R ( x ; x ) R (y ; y ) R ( x ; x )
cy
sy s x
sy c x
sx sy s x cy s x + c x c x s x cy c x c x s x
c x sy c x cy s x + s x c x
c x cy c x s x s x
Identitatea matriceal
(
(
R x ; y ; x
R x ; y ; x
)
) =
ix
iy
iz
A tan 2 ix ; ix
s y
s y
A tan 2 iy ; iy
iy iz
A tan 2
;
s y s y
R( x ; z ;x )
R(x ; z ; x )
Se cunoate
0
i
[R ]
Restricii
ix ( 1;1 )
Tipul matricei
(
(
)
)
R x ; z ;y
R y ; z ; x
Se cunoate
0
i
[R ]
Restricii
ix ( 1;1)
ix = 1
sz c x
cz
c s c c c s s
z
x
z
x
x
x
x
s x sz s x cz c x+c x s x
sz s x
c x cz s x s x c x
s x cz s x + c x c x
Identitatea matriceal
R ( x ; z ; x )
=
R ( x ; z ; x )
ix iy iz
Expresiile pentru unghiurile de orientare
x
z
x
A tan 2 ix ; ix
s z s z
A tan 2( iz ; iz )
ix = 1
(Tabelul 2.4)
Expresia de definiie
R ( x ; x ) R (z ; z ) R ( x ; x )
iy
A tan 2 iz ;
s z s z
Expresia de definiie
R (y ; y ) R (z ; z ) R ( x ; x )
(Tabelul 2.5)
c y cz c y sz c x + s y s x c y sz s x + s y c x
cz s x
cz c x
sz
s y cz s y sz c x + c y s x s y sz s x + c y c x
Identitatea matriceal
R ( x ; z ; y )
=
R ( y ; z ; x )
ix iy iz
Expresiile pentru unghiurile de orientare
y
z
x
A tan 2 ix ; ix
c z c z
A tan 2( iz ; iz )
Arc sin e ( ix )
/ 2
iy
A tan 2 iz ;
c z c z
0
(
(
)
)
R y ; z ;x
R x ; z ; y
Se cunoate
0
i
[R ]
c z c y
c x s z c y + s x s y
s x s z c y c x s y
iy ( 1;1 )
(
(
R y ; z ; x
R x ; z ; y
iy iy
A tan 2
;
c z c z
Tipul matricei
)
)
R y ; z ;y
R y ; z ; y
Se cunoate
[R ]
Restricii
iy ( 1;1)
iy = 1
c z s y
c x s z s y s x c y
s x s z s y
Identitatea matriceal
)
) =
ix
iy
Arc sin e iy
A tan 2 ix ; ix
s z s z
iy = 1
0
i
s z
c x c z
s x c z
iz
Restricii
(
(
(Tabelul 2.6)
Expresia de definiie
R ( x ; x ) R ( z ; z ) R (y ; y )
A tan 2 iz ; ix
c z c z
m / 2
(Tabelul 2.7)
Expresia de definiie
R (y ; y ) R (z ; z ) R (y ; y )
cy cz c y sy s y cy sz cy cz s y + sy c y
sz c y
cz
sz s y
sy cz c y cy s y sy sz sy cz s y + cy cz
Identitatea matriceal
(
(
R y ; z ;
R y ; z ;
)
=
y )
y
ix
iy
iz
iy
iy
A tan 2
;
s z s z
A tan 2( iz ; iz / c z )
( )
A tan 2 iz ; ix
s z s z
(
(
R y ; x ;y
R y ; x ; y
)
)
Se cunoate
0
i
[R ]
Restricii
iy ( 1;1)
iy = 1
Expresia de definiie
R (y ; y ) R ( x ; x ) R (y ; y )
sy cx s y + cy c y sy sx sy cx c y + cy s y
sx c y
sx s y
cx
cy cx s y sy c y cy sx cy cx c y sy s y
(
(
)
)
Se cunoate
0
i
[R ]
Restricii
iy ( 1;1 )
iy = 1
Identitatea matriceal
iz
ix
Expresiile pentru unghiurile de orientare
y
y
x
(
(
R y ; x ; y
R y ; x ; y
iy iy
A tan 2
;
s x s x
)
) =
iy
( )
A tan 2( ix ; ix )
Tipul matricei
R y ; x ;z
R z ; x ; y
(Tabelul 2.8)
A tan 2 ix ; iz
s x s x
Expresia de definiie
R (z ; z ) R ( x ; x ) R (y ; y )
(Tabelul 2.9)
sz sx s y + cz c y sz cx sz sx c y + cz s y
cz cx cz sx c y + sz s y
cz sx s y + sz c y
cx s y
sx
cx c y
Identitatea matriceal
iz
ix
Expresiile pentru unghiurile de orientare
y
z
x
(
(
R y ; x ; z
R z ; x ; y
iy iy
A tan 2
;
c x c x
A tan 2( ix ; ix )
)
) =
iy
( )
Arc sin e iy
/ 2
A tan 2 ix ; iz
c x c x
(
(
R z ; x ; y
R y ; x ; z
)
)
Se cunoate
0
i
[R ]
Restricii
iz ( 1;1)
iz = 1
Tipul matricei
R( z ; x ; z )
R(z ; x ; z )
Se cunoate
0
i
[R ]
Restricii
iz ( 1;1 )
iz = 1
(Tabelul 2.10)
Expresia de definiie
R (y ; y ) R ( x ; x ) R (z ; z )
s y s x s z + c y c z
c x s z
c y s x s z s y c z
s y s x c z c y s z
c x c z
c y s x c z + s y s z
Identitatea matriceal
iz
ix
Expresiile pentru unghiurile de orientare
y
x
z
(
(
R z ; x ; y
R y ; x ; z
A tan 2 iz ; iz
c x c x
A tan 2( ix ; ix )
s y c x
s x
c y c x
)
) =
iy
Arc sin e ( iz )
m / 2
iy
A tan 2 ix ;
x
x
0
(Tabelul 2.11)
Expresia de definiie
R (z ; z ) R ( x ; x ) R (z ; z )
sz cx s z + cz c z sz cx c z c z s z sz sx
c c s + s c
cz cx c z s z s z cz sx
z
z
z x z
sx s z
sx c z
cx
Identitatea matriceal
R ( z ; x ; z )
R ( z ; x ; z )
ix
iy
iz
A tan 2 iz ; iz
s x s x
A tan 2( ix ; ix )
iy
A tan 2 ix ;
s x s x
0
(
(
R z ; y ;z
R z ; y ; z
)
)
Se cunoate
0
i
[R ]
Restricii
Expresia de definiie
R (z ; z ) R (y ; y ) R ( z ; z )
c z cy c z s z s z
s z cy c z + c z s z
sy c z
iz
ix
Expresiile pentru unghiurile de orientare
y
z
z
(
(
A tan 2 iy ; iy
iz = 1
Tipul matricei
(
(
R z ; y ; x
R x ; y ; z
)
)
Se cunoate
0
i
[R ]
Restricii
iz ( 1;1 )
iz = 1
c z cy s z s z c z c z sy
s z cy s z + c z c z s z sy
sy s z
cy
Identitatea matriceal
R z ; y ; z
R z ; y ; z
A tan 2 iz ; iz
s y s y
iz ( 1;1 )
(Tabelul 2.12)
)
) =
iy
iy
A tan 2
; ix
s y
s y
Expresia de definiie
R ( x ; x ) R (y ; y ) R (z ; z )
(Tabelul 2.13)
cy s z
cy c z
sy
s x sy c z + c x s z s x sy s z + cx c z s x cy
c x sy c z + s x s z c x sy s z + s x c z c x cy
Identitatea matriceal
iz
ix
Expresiile pentru unghiurile de orientare
y
x
z
(
(
R z ; y ; x
R x ; y ; z
A tan 2 iz ; iz
c y c y
A tan 2 iy ; iy
)
) =
iy
Arc sin e ( iz )
/ 2
iy ix
A tan 2
;
c y c y
Conform teoremei deplasrilor finite a lui Euler [F01], [N07] i [V01], orientarea oricrui
sistem {i} fa de un altul, de exemplu {0} , poate fi definit prin rotaia cu un unghi n jurul
unei axe ( ) , care trebuie s treac printr-un punct considerat fix. Matricea de rotaie obinut,
devine funcie de unghiul i de cosinusurile directoare care definesc orientarea axei de rotaie
( ) . Aceast matrice este cunoscut ca matricea de rotaie generalizat, notat cu R(u ; ) .
y0 yi
y0 yi
uy
O0 O i u
0
ux
uz
z0
a.
y0 yi
uy
0
O0 Oi
z0
u
ux
c.
zi
Fig. 2.9
0
z0
zi
uz
O0 O i
x0
xi
u = (u x u y u z ) T = (s
x0
xi
zi
b.
Aceast seciune este consacrat
dezvoltrii unei metode [F01], care
permite, determinarea matricei de
rotaie generalizat R(u ; ) . Se
va determina unghiul de rotaie
i orientarea axei de rotaie ( ) ,
i
x 0 care asigur rotaia sistemului {}
fa de {0} , similar matricei (2.8),
xi
ale crei componente sunt
cunoscute. n Fig.2.9 se observ
c sistemele {}
i i {0} au
aceeai origine O 0 O i . Axa de
rotaie ( ) trece prin acest punct
fix (originea celor dou sisteme).
Orientarea axei fa de {0} se
exprim prin versorul scris astfel:
s c c c ) T ;
(2.79)
unde i sunt cele dou unghiuri independente de orientare ale axei de rotaie ( ) .
Capitolul 2 TRANSFORMRI MATRICEALE N MECANICA AVANSAT
n jurul axelor sistemului fix se efectueaz cinci rotaii simple. Ele definesc, mpreun, expresia
matricei de rotaie generalizat. Dac rotaiile sunt efectuate n jurul axelor fixe, conform cu
(2.61), ordinea de nmulire este invers ordinii n care se realizeaz transformrile fizice, adic:
R (u ; ) = R (x ; ) R (y ; ) R (z ; ) R (y ; ) R (x ; ) .
(2.80)
nlocuind matricele de rotaie simpl din (2.22), (2.26) i (2.30) n (2.80), se obine expresia:
c
0
s
R (u ; ) = s s c s c
c c
c s s
c s 0 c s s c s
c 0 0
c
s .(2.81)
s
s c
c c
0 1 s
0
R (u ; ) = u y [u x u y u z ] (1 - c ) + 0 1 0 c + u z
0
u x s ;(2.82)
u y
u z
0 0 1
ux
0
2
0
uz uy
1 0 0 u x 1 u x u y u x u z
2
R (u ; ) = 0 1 0 + u x u y u y 1 u y u z (1 c ) + u z
0
u x s .
u y u x
0 0 1 u x u z u y u z u z2 1
0
Expresiile matricei de rotaie generalizat pot fi scrise ntr-o form prescurtat astfel:
0 u 0 u T (1 - c ) + I 3 c + 0 u s
R (u ; ) =
(2.83)
.
2
0
0
I 3 + u (1 - c ) + u s
{
}
n expresia (2.83),
u , de forma:
0
uz
uy
ux
0
u = uz
0
u x ; i vect u = u y .
(2.84)
u
u y
u
0
x
z
Dup efectuarea unor transformri n relaiile (2.82) sau (2.83), se va obine expresia de
definiie a matricei de rotaie generalizat care este o funcie de versorul u al axei i de :
{ }
{ }
{ }
{ }
0 u 0 u T v + I c + 0 u s I + 0 u 2 (1 - c ) + 0 u s
3
3
2
u x v + c
u x u y v u z s u x u z v + u y s .(2.85)
R (u ; ) =
u 2y v + c
u y u z v u x s
u y u x v + u z s
u u v u s u u v + u s
u z2 v + c
y
z
y
x
z x
Dac axa de rotaie ( ) coincide cu una din axele sistemului fix {0} , expresia matricei de
rotaie generalizat se simplific i ia una din formele prezentate la (2.22) (2.30), adic:
0
(2.86)
u = {x 0 ; y 0 ; z 0 }
R (u ; ) = {R (x ; ); R (y; ); R (z ; )}.
Trace {R (u ; )} = Trace
{ [R ]};
0
i
Tr {R (u ; )} = Tr
{ [R ]}.
0
i
(2.87)
Pe baza proprietii referitoare la urma matricei, identitatea matriceal de mai sus, devine:
ix + iy + iz = 1 + 2 c .
(2.88)
Conform cu (2.88), determinarea unghiului de rotaie se bazeaz pe trei cazuri distincte:
(2.89)
(2.90)
1
(1 + ix ); u y = 1 1 + iy ; u z = 1 (1 + iz ) .
2
2
2
ux =
(2.91)
(2.92)
) (
R (u ; ) R T (u ; ) = 0i [R ] 0i [R ] T .
(2.95)
Pasul urmtor const n rezolvarea identitii matriceale, prezentat n expresia anterioar:
0
2 s u z 2 s u y
T
R (u ; ) R (u ; ) = 2 s u z
0
2 s u x ;
2 s u y 2 s u x
0
uz uy
R (u ; ) R (u ; ) = 2 s u z
0
u x = 2 s {u } ;
u y u x
0
0
ix iy
iz ix
0
0
T
= ix iy
0
iy iz .
i [R ] i [R ]
( iz ix ) iy iz
(2.96)
(2.97)
0
0
T
{u } =
iz ix .
; u = u y =
(2.98)
i [R ] i [R ]
2 s
2 s
u z
ix iy
1
1
1
iy iz ; u y =
( iz ix ) ; u z =
iy .
(2.99)
2 s
2 s
2 s ix
Unghiurile independente i vor fi determinate pe baza expresiei (2.79), dup cum urmeaz:
ux =
uy
= A tan 2
;
u y2 + u z2
s = u x ; c =
u 2y + u z2 ;
uz
u y2 + u z2
= A tan 2 u x ;
u y2 + u z2 .
(2.100)
(2.101)
[ {(u x , u y ); (u y ; u z ); (u z ; u x ) }]T .
)T
(2.102)
rezult: i [P ]
{ [P ]
i1
i2
de rotaie generalizat. Matricea de transfer, (2.14) sau (2.16) poate fi rescris sub forma :
0
[P ] = R (u ; )0 [P0 ] = R (u ; ) i [P ] ; p = R (u ; ) p0
(2.103)
Dac matricea de rotaie generalizat R (u ; ) este nlocuit cu (2.85), ecuaia (2.103) devine:
{ }
{ }
{ }
0 u 0 u T v + I c + 0 u s I + 0 u 2 (1 - c ) + 0 u s
3
3
+
c
+
u
0
x
y
z
x
z
y
[P ] = x
[P ] ;(2.104)
u y2 v + c
u y u z v u x s
u y u x v + u z s
u u v u y s u z u y v + u x s
u z2 v + c
z x
0 u 0 u T (1 c ) + I 3 c + 0 u s
p =
(2.105)
p0 ;
2
I 3 + 0 u (1 c ) + 0 u s
0 u 0 u T p 0 (1 c ) + p 0 c + 0 u p 0 s
p =
(2.106)
.
2
0
0
(
)
p
+
u
+
u
0
0
0
Ecuaia vectorial (2.106) n prima variant, este cunoscut ca i formula lui Rodrigues.
{ }
}
{
(2.107)
p = R (u ; ) p0 = p0 c + 0 u p0 s .
Formula lui Rodrigues este utilizat i n determinarea parametrilor de orientare. Astfel, ecuaia
(2.106) devine o ecuaie transcendent, fiind necesar s se efectueze urmtoarea substituie:
1 tan 2
2 tan 2
1 2
2
2 = 2 .
tan = ; c =
=
; s =
(2.108)
2
1 + 2
2
1 +
1 + tan 2
1 + tan 2
2
2
nlocuind (2.108) n ecuaia vectorial (2.106) i avnd n vedere c 0 u T 0 u = 1 , se va obine:
) (
0 u 0 u T p 0 2 2 + p 0 1 2 + 0 u p 0 2 = p 1 + 2 ;
(2.109)
0 T 0
u u = u x2 + u y2 + u z2 = 1 .
Sistemul (2.109) devine un sistem algebric de gradul doi cu patru ecuaii. Prin rezolvarea lui se
obin parametrii de orientare. Formula lui Rodrigues este utilizat pentru definirea parametrilor
de poziie i de orientare, care caracterizeaz un sistem mobil n raport cu un alt sistem fix.
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