Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 15

A configuration provides an instantaneous description of the geometry of a manipulator, but says nothing about its dynamic response. In contrast, the state of the manipulator is a set of variables that, together with a description of the manipulator’s dynamics and future inputs, is sufficient to determine the future time response of the manipulator. The state space is the set of all possible states. In the case of a manipulator arm, the dynamics are Newtonian, and can be specified by generalizing the familiar equation F = ma. Thus, a state of the manipulator can be specified by giving the values for the joint variables q and for the joint velocities (acceleration is related to the derivative of joint velocities). The dimension of the state space is thus 2n if the system has n DOF.