ROMANSY 11: Theory and Practice of Robots and Manipulators

421 Pages·1997·38.083 MB·English

by  Prof. Adam Morecki, Prof. Giovanni Bianchi, Dr. Cezary Rzymkowski (eds.)

CISM COURSES AND LECTURES
Series Editors:
The Rectors of CISM
Sandor Kaliszky -Budapest
Mahir Sayir -Zurich
Wilhelm Schneider -Wien
The Secretary General of CISM
Giovanni Bianchi -Milan
Executive Editor
Carlo Tasso -Udine
The series presents lecture notes, monographs, edited works and
proceedings in the field of Mechanics, Engineering, Computer Science
and Applied Mathematics.
Purpose of the series is to make known in the international scientific
and technical community results obtained in some of the activities
organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES
COURSES AND LECTURES-No. 381
ROMANSY 11
THEORY AND PRACTICE OF ROBOTS
AND MANIPULATORS
PROCEEDINGS OF THE ELEVENTH
CISM-IFToMM SYMPOSIUM
EDITED BY
A. MORECKI
WARSAW UNIVERSITY OF TECHNOLOGY
G. BIANCHI
POLYTECHNIC OF MILAN
C. RZYMKOWSKI
WARSAW UNIVERSITY OF TECHNOLOGY
~ Springer-Verlag Wien GmbH
Le spese di stampa di questo volume sono in parte coperte da
contributi del Consiglio Nazionale delle Ricerche.
This volume contains 264 illustrations
This work is subject to copyright.
Ali rights are reserved,
whether the whole or part ofthe material is concemed
specifically those of translation, reprinting, re-use of illustrations,
broadcasting, reproduction by photocopying machine
or similar means, and storage in data banks.
© 1997 by Springer-Verlag Wien
Originally published by Springer-Verlag Wien New York in 1997
In order to make this volume available as economically and as
rapidly as possible the authors' typescripts have been
reproduced in their original forms. This method unfortunately
has its typographicallimitations but it is hoped that they in no
way district the reader.
ISBN 978-3-211-82903-5 ISBN 978-3-7091-2666-0 (eBook)
DOI 10.1007/978-3-7091-2666-0
PREFACE
The CISM-IFToMM RoManSy Symposia have played a dynamic role in the
development of the theory and practice of robotics. The proceedings of the
eleven symposia to date present a world view of the state of the art, including a
unique record of the results achieved in central and eastern Europe.
RoManSy'96, held July 1-4,1996 in Udine, Italy was attended by 59 participants
from 13 countries.
The proceedings of this eleventh edition of RoManSy focus mainly on problems
of mechanical engineering and control.
In his opening lecture, 0. Khatib presented an overview of the ongoing efforts,
at Stanford University, for the development of mobile manipulation systems and
summarised the basic models and methodologies for their analysis and control.
The 46 papers illustrate significant contributions in mechanics (10 papers),
synthesis and design (4), walking machines and mobile robots (13),
biomechanical aspects of robots and manipulators (2), control of motion (11),
sensing and machine intelligence (3) and applications and performance
evaluation (3 ). They appear here in the order and form in which they were
presented in the various working sessions.
The next RoManSy'98 will be held in Paris, France in July 1998.
A. Morecki
G. Bianchi
C. Rzymkowski
CONTENTS
PREFACE
OPENING LECTURE:
Mobile Manipulator Systems
0. Khatib ......................................................................................................................... 3
CHAPTER I: Mechanics -I
Towards Reducing Thruster-Flexibility Interactions in Space Robots
E. Martin, E. Papadopoulos, J. Angeles ....................................................................... 13
Modeling and Optimization of the Tube-Crawling Robot
F.L. Chernousko, N.N. Bolotnik .................................................................................... 21
An Investigation of a Quality Index for the Stability of In-Parallel Planar
Platform Devices
J. Lee, J. Du.f.!Y, M Keler ................................................................ ............................... 27
Workspaces of Planar Parallel Manipulators
J-P. Merlet, C.M Gosselin, N. Mouly ............................................................................ 37
Nonlinear Control of a Parallel Robot Including Motor Dynamics
L. Beji, A. Abichou, P. Joli, M Pascal .......................................................................... 45
An Inverse Force Analysis of the Spherical3-DOF Parallel Manipulator with
Three Linear Actuators Considered as Spring System
J. Knapczyk. G. Tora ..................................................................................................... 53
CHAPTER II: Mechanics -II
Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator
R. Cieslak. A. Morecki ........................................................ ........................................... 63
Vibration Suppressing for Hydraulically Driven Large Redundant Manipulators
M Schneider, M Hiller ................................................................................................. 73
Nonlinear Dynamics of Computer Controlled Machines
G. Stepan, E. Enikov, T. Muller .............. ..... .. .. ............. ...................... ...... ... .. .. .. . .. .. .. .. ... 81
Identification and Compensation of Gear Friction for Modeling of Robots
M Daemi, B. Heimann .................................................................................................. 89
CHAPTER ill: Synthesis and Design
Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties
R. Matone, B.Roth ......................................................................................................... 99
viii Contents
Group Theoretical Synthesis of Binary Manipulators
G.S. Chirikjian ..................................... .................................... ...... .......... .................... 107
Distributed Kinematic Design from Task Specification
S. Regnier, F. B. Ouezdou, P. Bidaud ...................... ................... ..................... ........... 115
Optimal Design of a Shape Memory Alloy Actuator for Microgrippers
N Troisfontaine, Ph. Bidaud ....................................................................................... 123
CHAPTER IV: Walking Machines and Mobile Robots-I
On Direct-Search Optimization of Biped Walking
P. Kiriazov, W Schiehlen ............................................................................................ 133
Development of a Biped Walking Robot Adapting to the Real World
--Realization of Dynamic Biped Walking Adapting to the Humans' Living Floor
J. Yamaguchi, A. Takanishi ......................................................................................... 141
Simulation of an Anthropomorphic Running Robot
(Using the Multibody Code MECHANICA Motion)
H De Man, D. Lefober, J. Vermeulen, B. Verrelst ................................ ................. ..... 149
Gait Control Method of Robot and Biological Systems by Use ofHOJO-Brain
Y. Sankai ................... ....... ........... .. .................... ............... ........... ........ .. .. .. ........ .... ....... 157
Gait Rhythm Generators of a Two Legged Walking Machine
T. Zielifzska .. .......... ........... ................. .............. .. ........ .. .. .. .. ......... .... .. .. .. ............... .... .. .. 165
CHAPTER V: Walking Machines and Mobile Robots-II
Development of a Mechanical Simulation of Human Walking
K K~dzior, A. Morecki, M Wojtyra, T. Zagrajek, T. Zielifzska,
A. Goswami, M Waldron, K Waldron ........................................................................ 175
Mechanical Design of an Anthropomorphic Electropneumatic Walking Robot
G. Fig/io/ini, M Ceccarelli ................ ........... ...... .... ........ ..... ................................ ..... .. 189
Energetic Analysis of Three Classical Structures of Walking Robots Leg
0. Bruneau, F. Ben Ouezdou . .............. .... ............ ........ ....... .. ... .. .. .. .... .. ............. .. . .. .. ... 197
Dynamic Control of Wheeled Mobile Robot Using Sliding Mode
P. Ruaux, G. Bourdon, S. Delaplace .......... ..................... ............................................ 205
Simulation Study of a Group-Behavior of Micro-Robots on the Model
oflnsect's Behavior
K Matsushima, Y. Hayashibara, K Nakamoto ...................................................... .... 213
CHAPTER VI: Walking Machines and Mobile Robots -III
Active Coordination of Robotic Terrain-Adaptive Wheeled Vehicles
for Power Minimization
S.C. Venkataraman, S. V. Sreenivasan, KJ. Waldron ................................................. 223
Pulse Width Modulated Control for the Dynamic Tracking of Wheeled
Mobile Robots
X Feng, S.A. Velinsky .. ................. ........ ................. ............. ..... ...... ... .... .. ... .. .......... .. .. . 233
Contents ix
Manoeuvre Analysis ofMultilegged Walking Robots with Dynamic Constraints
Between Leg Propulsors
A.P. Bessonov, KS. Tolmachov, NV. Umnov ............................................................ 241
CHAPTER Vlb: Biomechanical Aspects of Robots and Manipulators
Biomechanical Aspect of a Mastication Robot
H Takanobu, A. Takanishi .......................................................................................... 251
A Strategy for the Finger-Arm Coordinated Motion--Analysis of Human Motion
in Violin Playing
K. Shibuya, S. Sugano ..... .. ....... .. .. ...... ..... .... .. .. . .... ... .. .. .... .............................. ......... ..... 259
CHAPTER VII: Control of Motion -I
High Performance Control ofManipulators Using Base Forcefforque Sensing
G. Morel, S. Dubow sky ... .. . .. .. .. .. . .. .. .. .. .. .. .. ......... .. .. .. . . . . . .. .. ......... .. .. .. .. .. . . . . .. .. . . . .... .. .. . . . . . 269
Control of a Redundant Scara Robot in the Presence of Obstacles
W. Risse, M Hiller .. .... .. ........ .. .. ..... .. .. .... .. .. ..... .. .. .. .. .. . ..... .. .... .. ..... .. .. ........ .. .. .. ........... .. 277
Experiments of Kinematic Control on a Two-Robot System
F. Caccavale, P. Chiacchio, S. Chiaverini, B. Siciliano .......... ... .. .. .. .. ...... ........... ....... 285
Optimal Path Planning for Moving Objects
K lasiflski, M Galicki, P. Gawlowicz .. . .. .. . .. .. . ....... .. .. ..... .... ...... ... .. .. .. .. . . . . . . . . . .. .. .. .. . . .. . 293
Stiffness Control of an Object Grasped by a Multifmgered Hand
K Tanie, H Maekawa, Y. Nakamura .......................................................................... 301
CHAPTER VIII: Control of Motion -II
Practical Stabilisation of Robots Interacting with Dynamic Environment
by Decentralised Control
D. Stokic, M Vukobratovic . ... .. ................. ......... .......... .... ..... .. ...... .. ... ............ ... .. .. ... .. . 311
Control of Redundant Robots at Singularities in Degenerate Directions
E. Malis, L. Morin, S. Boudet .. . . . . . . .. .. .. ...... .... .... .. .. ...... .. .. .. .. . . . .. .. .. .. .. . . . . . . . . .. .. .. . .. .. ... .. .. . 319
Application of Neural Networks for Control of Robot Manipulators-Simulation
and Implementation
T Uhl, M Szymkat, T Bojko, Z Korendo, J. Rod ...................................................... 327
CHAPTER IX: Control of Motion -III
Active Force Control of Pneumatic Actuators
H Busch, J. Hewit ....................................................................................................... 337
Using Backpropagation Algorithm for Neural Adaptive Control: Experimental
Validation on an Industrial Mobile Robot
P. Henaff, S. Delaplace ............................................................................................... 347
Hopfield's Artificial Neural Networks in Multiobjective Optimization Problems
of Resource Allocations Control
J. Balicki, Z Kitowski .. .. .. .. .. ............. .. .... .. ..... .... .. .. ...... ................... .. .. ........... ... .. ... .. . ... 355
X Contents
CHAPTER X: Sensing and Machine Intelligence
Type Synthesis of Contact Sensing Elements for Robotic Fixturing
W. W. Nederbragt, B.Ravani ..................... ............... ................ .... ..... .. ..... ......... ...... ..... .. 365
Object-Oriented Approach to Programming a Robot System
c. Zielinski.................................................................................................................... 373
Contact Tasks Realization by Sensing Contact Forces
B. Borovac, L. Nagy, M Sabli ....................................................................................... 381
CHAPTER XI: Application and Performance Evaluation
Application of Force Control in Telerobotics
R. Bicker, D. Glennie, Ow Sin Ming ............................................................................. 391
Development and Application of the TELBOT System-A New Tele Robot System
W. Wiilischmiller, H.-Y. Lee.......................................................................................... 399
A Decision-Making System for the Initial Stage Implementation
of Assembly Strategies
C.J. Tsaprounis, N.A. Aspragathos, A. Denstoras ................ ............ .................. ...... .... 409
APPENDIX A: Programme and Organising Committee .............................................. 421
APPENDIX B: List of Participants ................................................................................. 427
Opening Lecture