Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

604 Pages·2014·9.45 MB·English

by  Jorge Angeles (auth.)

Mechanical Engineering Series
Jorge Angeles
Fundamentals of
Robotic Mechanical
Systems
Theory, Methods, and Algorithms
Fourth Edition
Fundamentals of Robotic Mechanical Systems
Mechanical Engineering Series
FrederickF.Ling
Editor-in-Chief
The Mechanical Engineering Series features graduate texts and research monographs to
addresstheneedforinformationincontemporarymechanicalengineering,includingareas
ofconcentrationofappliedmechanics,biomechanics,computationalmechanics,dynamical
systems and control, energetics, mechanics of materials, processing, production systems,
thermalscience,andtribology.
AdvisoryBoard/SeriesEditors
AppliedMechanics D.Gross
TechnicalUniversityofDarmstadt
Biomechanics V.C.Mow
ColumbiaUniversity
ComputationalMechanics H.T.Yang
UniversityofCalifornia,
SantaBarbara
DynamicSystemsandControl/ D.Bryant
Mechatronics UniversityofTexasatAustin
Energetics J.R.Welty
UniversityofOregon,Eugene
Processing K.K.Wang
CornellUniversity
ProductionSystems G.-A.Klutke
TexasA&MUniversity
ThermalScience A.E.Bergles
RensselaerPolytechnicInstitute
Tribology W.O.Winer
GeorgiaInstituteofTechnology
Forfurthervolumes:
http://www.springer.com/series/1161
Jorge Angeles
Fundamentals of Robotic
Mechanical Systems
Theory, Methods, and Algorithms
Fourth Edition
123
JorgeAngeles
DepartmentofMechanicalEngineering
CentreforIntelligentMachines(CIM)
McGillUniversity
Montreal,QC,Canada
ISSN0941-5122 ISSN2192-063X(electronic)
ISBN978-3-319-01850-8 ISBN978-3-319-01851-5(eBook)
DOI10.1007/978-3-319-01851-5
SpringerChamHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2013952913
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Preface to the Fourth Edition
TheaimoftheFourthEditionisthesameasthatofthepasteditions:toprovidethe
readerwiththetoolsneededtobetterunderstandthefundamentalconceptsbehind
the design, analysis, control, and programming of robotic mechanical systems at
large.Thecurrenteditionincludesadditionalexamplesandexercises.Furthermore,
anupdatedaccountofprogressandtrendsinthebroadareaofroboticmechanical
systems,whichcontinuesdevelopingatanimpressivepace,isincludedinChap.1.
However,acomprehensivesummaryofup-to-datedevelopmentsisnotpossiblein
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
thatwerenotevenmentionedintheFirstEdition,namely,flyingrobots,especially
dronesandquadrotors,arenowhighlighted.
In producing the Fourth Edition, special attention was given to the consistency
and accuracy of the presentation. In Chap.4 new examples illustrating the imple-
mentationoftheDenavit–Hartenbergnotationandmethodologyareincluded,along
withanumericalexampleontheinverse-displacementproblemforsphericalwrists.
Some materials that complement the book are available on the Springer site
allocatedtothebook:
http://www.springer.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,orsimplytoassistthecuriousreaderinexploringalternativeexamplesor
alternativemethods.Animationfilesandfilmarealsoincluded.
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,butmostintensivelyinChap.9,arefacilitatedbytheinclusionofaMatlab
graphic user interface. Further refinements of these estimates are implemented by
meansofaNewton–Gaussleast-squareapproximationtoanoverdeterminedsystem
ofnonlinearequations,asimplementedinMatlab.
vii
viii PrefacetotheFourthEdition
The excellent work done by Dr. Kourosh Etemadi Zanganeh, currently at
Canmet (Nepean, Ontario, Canada), when he was a Ph.D. candidate under the
author’ssupervision,wasinstrumentalincompletingtheSecondEdition.Thiswork
comprises the development of algorithms and code for the solution of the inverse
displacementproblemofserialrobotswitharchitecturesthatpreventadecoupling
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
currentedition,islargelybasedonthiswork.
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
thebookatMcGillUniversity,pointedoutmistakesandgavevaluablesuggestions
for improving the readability of the book. Additionally, the valuable suggestions
received from Prof. Pierre Larochelle, Florida Institute of Technology, were also
incorporated.Needlesstosay,thefeedbackreceivedfromstudentsthroughoutmore
than20yearsofusingthismaterialintheclassroomishighlyacknowledged.
Nottheleast,theC-codeRVS,developedonSiliconGraphics’IRIX—adialect
ofUNIX—inthe1990s,wasportedintoWindows.Thecodeisnowavailableunder
thenameRVS4W(RVSforWindows).RVS,introducedalreadyintheFirstEdition,
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.
IntheFourthEdition,Iincludenewphotographsthatreplacedoldones.Forthe
magnificentanimationofspacerobots,includedintheabovesite,Iamindebtedto
theCanadianSpaceAgencyandMDA,theBrampton,Ontario-basedmanufacturer
ofCanadarmandCanadarm2.
Since there is always room for improvement, I welcome suggestions from the
readership,totheaddressbelow.Updatesonthebookwillbepostedat
www.cim.mcgill.ca/~rmsl
TheSolutionsManualhasbeenexpandedtoincludemoresolutionsofsampled
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
publisheruponrequest.
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. Dr. Waseem
A. 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,besidessomecoding,whilehewasaPh.D.candidateatMcGillUniversity.
PrefacetotheFourthEdition 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
MechanicalSystemsLaboratoryasapostdoctoralfellow.
Montreal,QC,Canada JorgeAngeles