Introduction to Robotics

to Robotics In collaboration with Milan Djurovic, Dragan Hristic, Branko Karan, Manja Kireanski, N enad Kireanski, Dragan Stokic, Dragoljub Vujic, Vesna Zivkovic With 228 Figures Springer-Verlag Berlin Heidelberg New York London Paris Tokyo 1989 .. Miomir Vukobratovic, Ph. D., D. Sc. Milan Djurovic B. Sc. Dragan Hristic Ph.D. Branko Karan B. Sc. Manja Kircanski Ph.D. Nenad Kireanski Ph.D. Dragan Stokic Ph.D. Dragoljub Vujic Ph.D. Vesna Zivkovic Ph.D. Institute Mibajlo Pupin YU-llOOO Beograd Based on the original Uvod u Robotiku published by Institute Mibajlo Pupin, Beograd, Yugoslavia, 1986. ISBN -13: 978-3-642-82999-4 e-ISBN -13: 978-3-642-82997-0 DOl: 10.1007/978-3-642-82997-0 Library of Congress Cataloging-in-Publication Data Vukobratovic, Miomir. Introduction to robotics. Translation of: Uvod u robotiku. Includes index. 1. Robotics. 1. Title. TJ211.V86131988 629.8'92 88-10307 ISBN-i3:978-3-642-82999-4 (U.S.) This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustration, recitation, broadcasting, reproduction on microfilms or in other ways. and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9,1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law.

1 General Introduction to Robots.- 1.1 Dedication and Classification of Robotic Systems.- 1.2 General Features of Robotic Mechanisms and their Classification.- References.- 2 Manipulator Kinematic Model.- 2.1 Introduction.- 2.2 Definitions.- 2.2.1 Mechanical Structure.- 2.2.2 Link.- 2.2.3 Kinematic Pair.- 2.2.4 Kinematic Chain.- 2.2.5 Joint Coordinates.- 2.2.6 External Coordinates.- 2.2.7 Direct Kinematic Problem.- 2.2.8 Inverse Kinematic Problem.- 2.2.9 Redundancy.- 2.3 Direct Kinematic Problem.- 2.3.1 Manipulator Hand Position.- 2.3.1.1 Homogeneous Transformation Matrices.- 2.3.2 Manipulator Hand Orientation.- 2.4 Inverse Kinematic Problem.- 2.4.1 Analytical Solutions.- 2.4.2 Numerical Solutions.- 2.4.3 The Jacobian Matrix.- 2.5 Manipulator Path Generation.- 2.6 Conclusion.- References.- 3 Dynamics and Dynamic Analysis of Manipulation Robots.- 3.1 Introduction.- 3.2 Mathematical Model of Manipulation Robot Dynamics.- 3.2.1 Mathematical Models of Actuators.- 3.2.2 Trajectories Synthesis and Dynamic Analysis of Manipulation Robots.- 3.2.2.1 Transfer of Manipulator Tip Along Prescribed Trajectory.- 3.2.2.2 Transfer of Working Object with Desired Orientation along Prescribed Trajectory.- 3.2.3 Calculation of Other Dynamic Characteristics.- 3.2.3.1 Diagrams of Torque vs. r.p.m.- 3.2.3.2 Calculation of the Power Needed and the Energy Consumed.- 3.2.4 Testing of Dynamic Characteristics.- 3.2.4.1 Tests of a D.C. Electromotor.- 3.2.4.2 Choice of Optimal Design Parameters.- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact.- 3.3.1 Basis Vibrations.- 3.3.2 Forming Differential Equations of Motion.- 3.4 Dynamics of Robots Under Action of External Reaction Forces.- 3.4.1 Practical Cases of Constrained Gripper Motion.- 3.4.2 Mathematical Model of Manipulator with Constraints of Gripper Motion.- 3.4.3 Gripper Moving Along a Surface.- A.3.1 Connection Between the Moving and Fixed System.- A.3.2 Determining Velocities and Accelerations.- A.3.3 Momentum of Rigid Body with Respect to a Fixed Pole.- A.3.4 Example of Mathematical Model Derivation.- References.- 4 Control of Robots.- 4.1 Hierarchical Control of Robots.- 4.2 Control of a Single Joint of a Robot.- 4.2.1 Model of Actuator and Joint Dynamics.- 4.2.2 Synthesis of Servosystem.- 4.2.3 The Influence of the Variable Moment of Inertia of the Mechanism.- 4.2.4 Influence of Gravity Moment and Friction.- 4.2.5 Synthesis of the Servosystem for Trajectory Tracking.- 4.3 Control of Simultaneous Motion of Several Robot Joints.- 4.3.1 Analysis of the Influence of Dynamic Forces in Simultaneous Motion of Several Joints.- 4.3.2 Dynamic Control of Robots.- 4.3.3 Computer-aided Synthesis of Robot Control.- 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots.- 4.5 Control of Robots in Assembly Tasks.- References.- 5 Microprocessor Implementation of Control Algorithms.- 5.1 Introduction.- 5.2 Basic Subsystems of Modern Robot Controllers.- 5.3 Program Modules.- 5.3.1 User-interface.- 5.3.2 Kinematic Module.- 5.3.3 Dynamic Module.- 5.4 Conclusion.- References.- 6 Industrial Robot Programming Systems.- 6.1 Introduction.- 6.2 Describing the Motion.- 6.3 Sensory Data Processing.- 6.4 Synchronization.- 6.5 Implementations of Robot Programming Systems.- 6.6 Robot Programming Examples.- 6.7 Additional Reading.- References.- 7 Sensors in Robotics.- 7.1 Positional Sensors.- 7.1.1 Resolvers.- 7.1.2 Encoders.- 7.1.3 Potentiometers.- 7.1.4 Performance Comparison.- 7.1.4.1 Mechanical Characteristics.- 7.1.4.2 Environmental Conditions.- 7.1.4.3 Installation.- 7.1.4.4 Accuracy.- 7.1.4.5 Reliability.- 7.2 Environment Sensors.- 7.2.1 Force Sensors.- 7.2.2 Tactile Sensors.- 7.2.3 Ultrasonic Sensors.- 7.3 Robot Vision.- 7.3.1 Illuminating the Scene.- 7.3.2 Special Vision Sensors.- 7.3.3 Lasers.- References.- 8 Elements, Structures and Application of Industrial Robots.- 8.1 Basic Postulates of Industrial Robot Design.- 8.1.1 Specifications of Industrial Robots as Mechanical Structures.- 8.2 Design Solutions of Main Robot Sub-assemblies.- 8.2.1 Pedestals of Robots.- 8.2.2 Angular Drives.- 8.2.3 Linear Drives.- 8.2.4 Industrial Robot Grippers.- 8.3 Examples of Industrial Robot Applications.- 8.3.1 Electrical Spot-Welding.- 8.3.2 Electrical Seam Welding.- 8.3.3 Pressure Die-Casting.- 8.3.4 Spray Painting.- 8.3.5 Machine Tool Serving.- 8.3.6 Materials Handling and Palletization.- 8.3.7 Processing Castings and Stampings.- 8.3.8 Applying Glue and Leakproofing.- 8.3.9 Assembly by Robots.- 8.3.10 Special Applications of Robots.- References.- 9 Robotics and Flexible Automation Systems.- 9.1 Introduction.- 9.2 Functional Structure of Flexible Automation Systems.- 9.2.1 Computerized Numerical Control.- 9.2.1.1 CNC System.- 9.2.1.2 NC Programming.- 9.2.1.3 Adaptive Control.- 9.2.2 Computerized Transport Systems and Mobile Robots.- 9.3 Control of Flexible Automation Systems.- 9.3.1 Control of Flexible Manufacturing Systems.- 9.3.2 Control of Multirobot Systems.- 9.3.2.1 Off-line Multirobot Trajectory Planning.- 9.3.2.2 On-line Multirobot Trajectory Planning.- 9.4. Hardware and Software Requirements for FAS.- 9.4.1 An Example of the Information Flow in FAS.- References.- Appendix A.9 Coloured Petri Nets.- A.9.1 General Notions on Petri Nets.- A.9.2 Execution Rules of Petri Nets.- A.9.3 Non-primitive Coloured Petri Nets.- A.9.4 Normalized Coloured Petri Nets.- References.