Fundamentals of robotic mechanical systems : theory, methods, and algorithms

Title:

Personal Author:

Angeles, Jorge

Series:

Mechanical engineering

Edition:

3rd ed.

Publication Information:

New York, NY : Springer-Verlag, 2007

Physical Description:

1v + 1 CD-ROM

ISBN:

9780387294124

General Note:

Accompanied by compact disc : CP 10203

Available online version

Subject Term:

Robotics

Electronic Access:

Fulltext

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Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010125090	TJ211 A53 2007	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010155755	TJ211 A53 2007	Open Access Book	Book	Searching... Unknown

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Summary

This volume deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks.

Preface to the Third Edition	p. XV
Preface to the First Edition	p. XIX
1 An Overview of Robotic Mechanical Systems	p. 1
1.1 Introduction	p. 1
1.2 The General Architecture of Robotic Mechanical Systems	p. 3
1.2.1 Types of Robots by Function	p. 6
1.2.2 Types of Robots by Size	p. 7
1.2.3 Types of Robots by Application	p. 7
1.3 Manipulators	p. 7
1.3.1 Robotic Arms	p. 9
1.3.2 Robotic Hands	p. 10
1.4 Motion Generators	p. 12
1.4.1 Parallel Robots	p. 12
1.4.2 SCARA Systems	p. 16
1.5 Locomotors	p. 17
1.5.1 Legged Robots	p. 17
1.5.2 Wheeled Robots	p. 19
1.6 Swimming Robots	p. 22
1.7 Flying Robots	p. 23
1.8 Exercises	p. 24
2 Mathematical Background	p. 27
2.1 Preamble	p. 27
2.2 Linear Transformations	p. 28
2.3 Rigid-Body Rotations	p. 33
2.3.1 The Cross-Product Matrix	p. 36
2.3.2 The Rotation Matrix	p. 38
2.3.3 The Linear Invariants of a 3 x 3 Matrix	p. 42
2.3.4 The Linear Invariants of a Rotation	p. 43
2.3.5 Examples	p. 45
2.3.6 The Euler-Rodrigues Parameters	p. 51
2.4 Composition of Reflections and Rotations	p. 54
2.5 Coordinate Transformations and Homogeneous Coordinates	p. 56
2.5.1 Coordinate Transformations Between Frames with a Common Origin	p. 56
2.5.2 Coordinate Transformation with Origin Shift	p. 60
2.5.3 Homogeneous Coordinates	p. 62
2.6 Similarity Transformations	p. 65
2.7 Invariance Concepts	p. 71
2.7.1 Applications to Redundant Sensing	p. 75
2.8 Exercises	p. 79
3 Fundamentals of Rigid-Body Mechanics	p. 89
3.1 Introduction	p. 89
3.2 General Rigid-Body Motion and Its Associated Screw	p. 89
3.2.1 The Screw of a Rigid-Body Motion	p. 93
3.2.2 The Plucker Coordinates of a Line	p. 95
3.2.3 The Pose of a Rigid Body	p. 98
3.3 Rotation of a Rigid Body About a Fixed Point	p. 102
3.4 General Instantaneous Motion of a Rigid Body	p. 103
3.4.1 The Instant Screw of a Rigid-Body Motion	p. 104
3.4.2 The Twist of a Rigid Body	p. 107
3.5 Acceleration Analysis of Rigid-Body Motions	p. 110
3.6 Rigid-Body Motion Referred to Moving Coordinate Axes	p. 112
3.7 Static Analysis of Rigid Bodies	p. 114
3.8 Dynamics of Rigid Bodies	p. 118
3.9 Exercises	p. 122
4 Geometry of Decoupled Serial Robots	p. 129
4.1 Introduction	p. 129
4.2 The Denavit-Hartenberg Notation	p. 129
4.3 The Geometric Model of Six-Revolute Manipulators	p. 138
4.4 The Inverse Displacement Analysis of Decoupled Manipulators	p. 141
4.4.1 The Positioning Problem	p. 142
4.4.2 The Orientation Problem	p. 157
4.5 Exercises	p. 162
5 Kinetostatics of Serial Robots	p. 167
5.1 Introduction	p. 167
5.2 Velocity Analysis of Serial Manipulators	p. 168
5.3 Jacobian Evaluation	p. 175
5.3.1 Evaluation of Submatrix A	p. 175
5.3.2 Evaluation of Submatrix B	p. 178
5.4 Singularity Analysis of Decoupled Manipulators	p. 180
5.4.1 Manipulator Workspace	p. 182
5.5 Acceleration Analysis of Serial Manipulators	p. 186
5.6 Static Analysis of Serial Manipulators	p. 190
5.7 Planar Manipulators	p. 192
5.7.1 Displacement Analysis	p. 193
5.7.2 Velocity Analysis	p. 195
5.7.3 Acceleration Analysis	p. 198
5.7.4 Static Analysis	p. 199
5.8 Kinetostatic Performance Indices	p. 201
5.8.1 Positioning Manipulators	p. 207
5.8.2 Orienting Manipulators	p. 210
5.8.3 Positioning and Orienting Manipulators	p. 211
5.8.4 Computation of the Characteristic Length: Applications to Performance Evaluation	p. 218
5.9 Exercises	p. 227
6 Trajectory Planning: Pick-and-Place Operations	p. 233
6.1 Introduction	p. 233
6.2 Background on PPO	p. 234
6.3 Polynomial Interpolation	p. 236
6.3.1 A 3-4-5 Interpolating Polynomial	p. 236
6.3.2 A 4-5-6-7 Interpolating Polynomial	p. 240
6.4 Cycloidal Motion	p. 243
6.5 Trajectories with Via Poses	p. 245
6.6 Synthesis of PPO Using Cubic Splines	p. 246
6.7 Exercises	p. 252
7 Dynamics of Serial Robotic Manipulators	p. 257
7.1 Introduction	p. 257
7.2 Inverse vs. Forward Dynamics	p. 257
7.3 Fundamentals of Multibody System Dynamics	p. 259
7.3.1 On Nomenclature and Basic Definitions	p. 259
7.3.2 The Euler-Lagrange Equations of Serial Manipulators	p. 260
7.3.3 Kane's Equations	p. 268
7.4 Recursive Inverse Dynamics	p. 269
7.4.1 Kinematics Computations: Outward Recursions	p. 269
7.4.2 Dynamics Computations: Inward Recursions	p. 275
7.5 The Natural Orthogonal Complement in Robot Dynamics	p. 280
7.5.1 Derivation of Constraint Equations and Twist-Shape Relations	p. 285
7.5.2 Noninertial Base Link	p. 288
7.6 Manipulator Forward Dynamics	p. 289
7.6.1 Planar Manipulators	p. 293
7.6.2 Algorithm Complexity	p. 306
7.6.3 Simulation	p. 310
7.7 Incorporation of Gravity Into the Dynamics Equations	p. 312
7.8 The Modeling of Dissipative Forces	p. 313
7.9 Exercises	p. 316
8 Special Topics in Rigid-Body Kinematics	p. 323
8.1 Introduction	p. 323
8.2 Computation of Angular Velocity from Point-Velocity Data	p. 324
8.2.1 A Robust Formulation	p. 330
8.3 Computation of Angular Acceleration from Point-Acceleration Data	p. 331
8.3.1 A Robust Formulation	p. 337
8.4 Exercises	p. 339
9 Geometry of General Serial Robots	p. 343
9.1 Introduction	p. 343
9.2 The IDP of General Six-Revolute Manipulators	p. 344
9.2.1 Preliminaries	p. 345
9.2.2 Derivation of the Fundamental Closure Equations	p. 349
9.3 The Univariate-Polynomial Approach	p. 357
9.3.1 The Raghavan-Roth Procedure	p. 357
9.3.2 The Li-Woernle-Hiller Procedure	p. 364
9.4 The Bivariate-Equation Approach	p. 367
9.4.1 Numerical Conditioning of the Solutions	p. 369
9.5 Implementation of the Solution Method	p. 370
9.6 Computation of the Remaining Joint Angles	p. 371
9.6.1 The Raghavan-Roth Procedure	p. 372
9.6.2 The Li-Woernle-Hiller Procedure	p. 373
9.6.3 The Bivariate-Equation Approach	p. 374
9.7 Examples	p. 375
9.8 Exercises	p. 384
10 Kinematics of Alternative Robotic Mechanical Systems	p. 387
10.1 Introduction	p. 387
10.2 Kinematics of Parallel Manipulators	p. 388
10.2.1 Velocity and Acceleration Analyses of Parallel Manipulators	p. 401
10.3 Multifingered Hands	p. 408
10.4 Walking Machines	p. 413
10.5 Rolling Robots	p. 416
10.5.1 Robots with Conventional Wheels	p. 417
10.5.2 Robots with Omnidirectional Wheels	p. 422
10.6 Exercises	p. 426
11 Trajectory Planning: Continuous-Path Operations	p. 429
11.1 Introduction	p. 429
11.2 Curve Geometry	p. 430
11.3 Parametric Path Representation	p. 435
11.4 Parametric Splines in Trajectory Planning	p. 449
11.5 Continuous-Path Tracking	p. 454
11.6 Exercises	p. 463
12 Dynamics of Complex Robotic Mechanical Systems	p. 469
12.1 Introduction	p. 469
12.2 Classification of Robotic Mechanical Systems with Regard to Dynamics	p. 470
12.3 The Structure of the Dynamics Models of Holonomic Systems	p. 471
12.4 Dynamics of Parallel Manipulators	p. 474
12.5 Dynamics of Rolling Robots	p. 484
12.5.1 Robots with Conventional Wheels	p. 485
12.5.2 Robots with Omnidirectional Wheels	p. 493
12.6 Exercises	p. 502
A Kinematics of Rotations: A Summary	p. 507
B Numerical Equation-Solving	p. 513
B.1 The Overdetermined Linear Case	p. 514
B.1.1 The Numerical Solution of an Overdetermined System of Linear Equations	p. 515
B.2 The Underdetermined Linear Case	p. 519
B.2.1 The Numerical Solution of an Underdetermined System of Linear Equations	p. 520
B.3 Nonlinear-Equation Solving: The Determined Case	p. 521
B.3.1 The Newton-Raphson Method	p. 522
B.4 Overdetermined Nonlinear Systems of Equations	p. 524
B.4.1 The Newton-Gauss Method	p. 525
B.4.2 Convergence Criterion	p. 525
References	p. 529
Index	p. 543

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Table of Contents