Mechanical Engineering Series Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition Fundamentals of Robotic Mechanical Systems Mechanical Engineering Series Frederick F. Ling Editor-in-Chief The Mechanical Engineering Series features graduate texts and research monographs to address the need for information in contemporary mechanical engineering, including areas of concentration of applied mechanics, biomechanics, computational mechanics, dynamical systems and control, energetics, mechanics of materials, processing, production systems, thermal science, and tribology. Advisory Board/Series Editors Applied Mechanics D. Gross Technical University of Darmstadt Biomechanics V.
Mow Columbia University Computational Mechanics H. Yang University of California, Santa Barbara Dynamic Systems and Control/ D. Bryant Mechatronics University of Texas at Austin Energetics J.Welty University of Oregon, Eugene Processing K. Wang Cornell University Production Systems G.
Klutke Texas A&M University Thermal Science A. Bergles Rensselaer Polytechnic Institute Tribology W. Winer Georgia Institute of Technology For further volumes: http://www.com/series/1161 Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition 123 Jorge Angeles Department of Mechanical Engineering Centre for Intelligent Machines (CIM) McGill University Montreal, QC, Canada ISSN 0941-5122 ISSN 2192-063X (electronic) ISBN 978-3-319-01850-8 ISBN 978-3-319-01851-5 (eBook) DOI 10.1007/978-3-319-01851-5 Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013952913 © Springer International Publishing Switzerland 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed.
Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein.
Printed on acid-free paper Springer is part of Springer Science+Business Media (www.com) To Anne-Marie, who has given me not only her love, but also her precious time, without which this book would not have been possible. Preface to the Fourth Edition The aim of the Fourth Edition is the same as that of the past editions: to provide the reader with the tools needed to better understand the fundamental concepts behind the design, analysis, control, and programming of robotic mechanical systems at large. The current edition includes additional examples and exercises. Furthermore, an updated account of progress and trends in the broad area of robotic mechanical systems, which continues developing at an impressive pace, is included in Chap.
However, a comprehensive summary of up-to-date developments is not possible in the limits of a book that stresses fundamentals. An effort was made to include an overview of the subject, with pertinent references for the details. Robotic systems that were not even mentioned in the First Edition, namely, flying robots, especially drones and quadrotors, are now highlighted. In producing the Fourth Edition, special attention was given to the consistency and accuracy of the presentation.
4 new examples illustrating the imple- mentation of the Denavit–Hartenberg notation and methodology are included, along with a numerical example on the inverse-displacement problem for spherical wrists. Some materials that complement the book are available on the Springer site allocated to the book: http://www.com/engineering/robotics/book/978-3-319-01850-8 Material posted therein includes code intended to help better understand the most cumbersome derivations, and to provide useful tools when working out the exercises, or simply to assist the curious reader in exploring alternative examples or alternative methods. Animation files and film are also included. An important feature of the code provided is that it allows for either symbolic manipulations, using Maple, or numerical computations, using Matlab.
The rough estimates of the solutions to systems of bivariate equations, arising in various chapters, but most intensively in Chap. 9, are facilitated by the inclusion of a Matlab graphic user interface. Further refinements of these estimates are implemented by means of a Newton–Gauss least-square approximation to an overdetermined system of nonlinear equations, as implemented in Matlab. vii viii Preface to the Fourth Edition The excellent work done by Dr.
Kourosh Etemadi Zanganeh, currently at Canmet (Nepean, Ontario, Canada), when he was a Ph. candidate under the author’s supervision, was instrumental in completing the Second Edition. This work comprises the development of algorithms and code for the solution of the inverse displacement problem of serial robots with architectures that prevent a decoupling of the positioning from the orientation problems. The material in Chap.
9, which was deeply revised in the Third Edition and remained virtually untouched in the current edition, is largely based on this work. I would like to thank all those who provided valuable advice for improvement: Profs. Carlos López-Cajún, Universidad Autónoma de Querétaro (Mexico), and J. Jesús Cervantes-Sánchez, Universidad de Guanajuato (Mexico), pointed out many inconsistencies in the First Edition; Dr.
Zheng Liu, Canadian Space Agency, St.- Hubert (Quebec, Canada), who taught a course based on the first six chapters of the book at McGill University, pointed out mistakes and gave valuable suggestions for improving the readability of the book. Additionally, the valuable suggestions received from Prof. Pierre Larochelle, Florida Institute of Technology, were also incorporated. Needless to say, the feedback received from students throughout more than 20 years of using this material in the classroom is highly acknowledged.
Not the least, the C-code RVS, developed on Silicon Graphics’ IRIX—a dialect of UNIX—in the 1990s, was ported into Windows. The code is now available under the name RVS4W (RVS for Windows). RVS, introduced already in the First Edition, is the software system I have used at McGill University’s Centre for Intelligent Machines to visualize robot motions in projects on design, control, and motion- planning. The original C-code, and the whole idea of RVS, is due to the creative work of John Darcovich, now a Senior Engineer at CAE Electronics Ltd., when he was a Research Engineer at McGill University’s Robotic Mechanical Systems Laboratory.
In the Fourth Edition, I include new photographs that replaced old ones. For the magnificent animation of space robots, included in the above site, I am indebted to the Canadian Space Agency and MDA, the Brampton, Ontario-based manufacturer of Canadarm and Canadarm2. Since there is always room for improvement, I welcome suggestions from the readership, to the address below. Updates on the book will be posted at www.ca/~rmsl The Solutions Manual has been expanded to include more solutions of sampled problems.
By the same token, the number of exercises has been expanded. The manual is typeset in LATEX and contains numerous figures; it is available from the publisher upon request. In closing, I would like to thank Dr. Xiaoqing Ma, who assisted me with the editing of the Fourth Edition and the production of a few figures.
Khan, now a Senior Research Engineer at Montreal-based Jabez Technologies Inc., is to be thanked for the excellent additional drawings required by the Third Edition, besides some coding, while he was a Ph. candidate at McGill University. Preface to the Fourth Edition ix Dr. Stéphane Caro, currently a researcher at France’s Ecole Centrale de Nantes, contributed with Matlab coding while working at McGill University’s Robotic Mechanical Systems Laboratory as a postdoctoral fellow.
Montreal, QC, Canada Jorge Angeles Preface to the First Edition No todos los pensamientos son algorítmicos. —Mario Bunge1 The beginnings of modern robotics can be traced back to the late 1960s with the advent of the microprocessor, which made possible the computer control of a multiaxial manipulator. Since those days, robotics has evolved from a technology developed around this class of manipulators for the replaying of a preprogrammed task to a multidiscipline encompassing many branches of science and engineering. Research areas such as computer vision, artificial intelligence, and speech recogni- tion play key roles in the development and implementation of robotics; these are, in turn, multidisciplines supported by computer science, electronics, and control, at their very foundations.
Thus we see that robotics covers a rather broad spectrum of knowledge, the scope of this book being only a narrow band of this spectrum, as outlined below. Contemporary robotics aims at the design, control, and implementation of systems capable of performing a task defined at a high level, in a language resembling those used by humans to communicate among themselves. Moreover, robotic systems can take on forms of all kinds, ranging from the most intangible, such as interpreting images collected by a space sound, to the most concrete, such as cutting tissue in a surgical operation. We can, therefore, notice that motion is not essential to a robotic system, for this system is meant to replace humans in many of their activities, moving being but one of them.
However, since robots evolved from early programmable manipulators, one tends to identify robots with motion 1 Not all thinking processes are algorithmic—translation of the author—personal communication during the Symposium on the Brain-Mind Problem. A Tribute to Professor Mario Bunge on His 75th Birthday, Montreal, September 30, 1994. xi xii Preface to the First Edition and manipulation. Certainly, robots may rely on a mechanical system to perform their intended tasks.
When this is the case, we can speak of robotic mechanical systems, which are the subject of this book. These tasks, in turn, can be of a most varied nature, mainly involving motions such as manipulation, but they can also involve locomotion. Moreover, manipulation can be as simple as displacing objects from a belt conveyor to a magazine. On the other hand, manipulation can also be as complex as displacing these objects while observing constraints on both motion and force, e., when cutting live tissue of vital organs.
We can, thus, distinguish between plain manipulation and dextrous manipulation. Furthermore, manipulation can involve locomotion as well. The task of a robotic mechanical system is, hence, intimately related to motion control, which warrants a detailed study of mechanical systems as elements of a robotic system. The aim of this book can, therefore, be stated as establishing the foundations on which the design, control, and implementation of robotic mechanical systems are based.
The book evolved from sets of lecture notes developed at McGill University over the last 12 years, while I was teaching a two-semester sequence of courses on robotic mechanical systems. For this reason, the book comprises two parts—an introductory and an intermediate part on robotic mechanical systems. Advanced topics, such as redundant manipulators, manipulators with flexible links and joints, and force control, are omitted. The feedback control of robotic mechanical systems is also omitted, although the book refers the reader, when appropriate, to the specialized literature.
An aim of the book is to serve as a textbook in a 1-year robotics course; another aim is to serve as a reference to the practicing engineer. The book assumes some familiarity with the mathematics taught in any engineer- ing or science curriculum in the first 2 years of college.