Fundamentals of Roboti c Mechanical Systems: Theory, Methods, and Algorithms, Second Edition Jorge Angeles Springer TLFeBOOK Mechanical Engineering Series Frederick F. Ling Series Editor Springer New York Berlin Heidelberg Hong Kong London Milan Paris Tokyo TLFeBOOK Mechanical Engineering Series J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, 2nd ed. P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and Theory J.M. Berthelot, Composite Materials: Mechanical Behavior and Structural Analysis I.J. Busch-Vishniac, Electromechanical Sensors and Actuators J. Chakrabarty, Applied Plasticity G. Chryssolouris, Laser Machining: Theory and Practice V.N. Constantinescu, Laminar Viscous Flow G.A. Costello, Theory of Wire Rope, 2nd ed. K. Czolczynski, Rotordynamics of Gas-Lubricated Journal Bearing Systems M.S. Darlow, Balancing of High-Speed Machinery J.F. Doyle, Nonlinear Analysis of Thin-Walled Structures: Statics, Dynamics, and Stability J.F. Doyle, Wave Propagation in Structures: Spectral Analysis Using Fast Discrete Fourier Transforms, 2nd ed. P.A. Engel, Structural Analysis of Printed Circuit Board Systems A.C. Fischer-Cripps, Introduction to Contact Mechanics A.C. Fischer-Cripps, Nanoindentation J. García de Jalón and E. Bayo, Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge W.K. Gawronski , Dynamics and Control of Structures: A Modal Approach K.C. Gupta, Mechanics and Control of Robots J. Ida and J.P.A. Bastos, Electromagnetics and Calculations of Fields M. Kaviany, Principles of Convective Heat Transfer, 2nd ed. M. Kaviany, Principles of Heat Transfer in Porous Media, 2nd ed. E.N. Kuznetsov, Underconstrained Structural Systems (continued after index) TLFeBOOK Mechanical Engineering Series (continued from page ii) P. Ladevèze, Nonlinear Computational Structural Mechanics: New Approaches and Non-Incremental Methods of Calculation A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and Control, 2nd ed. R.A. Layton, Principles of Analytical System Dynamics F.F. Ling, W.M. Lai, D.A. Lucca, Fundamentals of Surface Mechanics With Applications, 2nd ed. C.V. Madhusudana, Thermal Contact Conductance D.P. Miannay, Fracture Mechanics D.P. Miannay, Time-Dependent Fracture Mechanics D.K. Miu, Mechatronics: Electromechanics and Contromechanics D. Post, B. Han, and P. Ifju, High Sensitivity Moiré: Experimental Analysis for Mechanics and Materials F.P. Rimrott, Introductory Attitude Dynamics S.S. Sadhal, P.S. Ayyaswamy, and J.N. Chung, Transport Phenomena with Drops and Bubbles A.A. Shabana, Theory of Vibration: An Introduction, 2nd ed. A.A. Shabana, Theory of Vibration: Discrete and Continuous Systems, 2nd ed. TLFeBOOK Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Second Edition 123 TLFeBOOK Jorge Angeles Department of Mechanical Engineering and Centre for Intelligent Machines McGill University 817 Sherbrooke Street Montreal, Quebec H3A 2K6, Canada angeles@cim.mcgill.ca Series Editor Frederick F. Ling Ernest F. Gloyna Regents Chair in Engineering Department of Mechanical Engineering The University of Texas at Austin Austin, TX 78712-1063, USA and William Howard Hart Professor Emeritus Department of Mechanical Engineering, Aeronautical Engineering and Mechanics Rensselaer Polytechnic Institute Troy, NY 12180-3590, USA Library of Congress Cataloging-in-Publication Data Angeles, Jorge, 1943– Fundamentals of robotic mechanical systems : theory, methods, and algorithms / Jorge Angeles.—2nd ed. p. cm.—(Mechanical engineering series) Includes bibliographical references and index. ISBN 0-387-95368-X (alk. paper) 1. Robotics. I. Title. II. Mechanical engineering series (Berlin, Germany) TJ211 .A545 2002 629.8'92—dc21 2001054911 ISBN 0-387-95368-X Printed on acid-free paper. © 2003 Springer-Verlag New York, Inc. All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, New York, NY 10010, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in con- nection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed in the United States of America. 987654321 SPIN 10853235 Typesetting: Pages created by the author using a Springer TeX macro package. www.springer-ny.com Springer-Verlag New York Berlin Heidelberg A member of BertelsmannSpringer Science+Business Media GmbH TLFeBOOK To A nne-Marie, who has given m e not only her love, but also h er precious time, without which this book would not have been possible. TLFeBOOK Mechanical Engineering Series Frederick F. Ling Series Editor Advisory Board Applied Mechanics F.A. Leckie University of California, Santa Barbara Biomechanics V.C. Mow Columbia University Computational Mechanics H.T. Yang University of California, Santa Barbara Dynamical Systems and Control K.M. Marshek University of Texas, Austin Energetics J.R. Welty University of Oregon, Eugene Mechanics of Materials I. Finnie University of California, Berkeley Processing K.K. Wang Cornell University Production Systems G A. Klutke Texas A&M University Thermal Science A.E. Bergles Rensselaer Polyechnic Institute Tribology W.O. Winer Georgia Institute of Technology TLFeBOOK Series Preface Mechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is- sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished roster of consult- ing editors on the advisory board, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the facing page of this volume. The areas of concentration are: applied mechanics; biomechanics; computational mechanics; dynamic systems and control; en- ergetics; mechanics of materials; processing; production systems; thermal science; and tribology. Austin, Texas Frederick F. Ling TLFeBOOK Preface to the Second Edition The theory, methods and algorithms behind the development of robotic mechanical systems continue developing at a rate faster than they can be recorded. The second edition of Fundamentals of Robotic Mechanical Sys- tems does not claim a comprehensive account of developments up-to-date. Nevertheless, an attempt has been made to update the most impacting developments in these activities. Since the appearance of the first edition, many milestones can be cited. Advances in a host of applications areas can be mentioned, e.g., laparoscopy, haptics, and manufacturing, to mention a representative sample. Perhaps the most impressive achievements to be cited lie in the realm of space exploration. Indeed, in the period of interest we have seen the suc- cessful landing of the Sojourner on Mars, with the wheeled robot Pathfinder roaming on the Martian landscape in 1997. Along the same lines, the in- frastructure of the International Space Station was set in orbit in 2000, with the installation of Canadarm2, the successor of Canadarm, following suit in 2001. Not less impressive are the achievements recorded on the the- oretical side of the areas of interest, although these have received much less media attention. To cite just one such accomplishment, one open question mentioned in the first edition was definitely closed in 1998 with a paper pre- sented at the International Workshop on Advances in Robot Kinematics. This question pertains to the 40th-degree polynomial derived by Husty— as reported in 1996 in a paper in Mechanism and Machine Theory—and allowing the computation of all forward-kinematics solutions of a general Stewart-Gough platform. Dietmaier reported an algorithm in that work- shop that is capable of generating a set of geometric parameters of the TLFeBOOK [...]... Overview of Robotic Mechanical Systems (a) (b) (c) FIGURE 1.7 A sample of parallel manipulators: (a) The UTIAS Trussarm (courtesy of Prof P C Hughes); (b) the Merlet left hand (courtesy of Dr J.-P Merlet); and (c) the Hayward shoulder module (courtesy of Prof V Hayward.) TLFeBOOK 1.5 Robotic Hands 11 1.5 Robotic Hands As stated above, the hand can be regarded as the most complex mechanical subsystem of the... Overview of Robotic Mechanical Systems 455 2 Mathematical Background 457 TLFeBOOK Contents 3 4 5 6 7 8 9 10 Fundamentals of Rigid-Body Mechanics Kinetostatics of Simple Robotic Manipulators Trajectory Planning: Pick -and- Place Operations Dynamics of Serial Robotic Manipulators Special Topics on Rigid-Body Kinematics Kinematics of Complex Robotic Mechanical. .. flight simulators, walking machines, mechanical hands, and rolling robots We outline the various features of these systems below TLFeBOOK 6 1 An Overview of Robotic Mechanical Systems FIGURE 1.3 Canadarm2 and Special-Purpose Dextrous Manipulator (courtesy of the Canadian Space Agency.) 1.3 Serial Manipulators Among all robotic mechanical systems mentioned above, robotic manipulators deserve special... One of the objectives of this book is to develop tools for the programming of robotic manipulators However, the capabilities offered by robotic mechanical systems go well beyond the mere playback of preprogrammed tasks Current research aims at providing robotic systems with software and hardware that will allow them to make decisions on the spot and learn while performing a task The implementation of. .. beyond the scope of this book and, hence, will not be treated here For a glimpse of such techniques, the reader is referred to the work of Latombe (1991) and the references therein TLFeBOOK 8 1 An Overview of Robotic Mechanical Systems FIGURE 1.5 A six-degree -of- freedom flight simulator (courtesy of CAE Electronics Ltd.) 1.4 Parallel Manipulators Robotic manipulators first appeared as mechanical systems... 1.2 The General Structure of Robotic Mechanical Systems 5 FIGURE 1.2 Block diagram of a general robotic mechanical system Of special relevance to robot control is the subject of nonlinear control at large, a pioneer here being Isidori (1989) Robotic mechanical systems with a human being in their control loop are called telemanipulators Thus, a telemanipulator is a robotic mechanical system in which... 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 twelve 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... Dynamics of Complex Robotic Mechanical Systems xxiii 465 471 478 481 487 490 494 498 References 501 Index 515 TLFeBOOK This page intentionally left blank TLFeBOOK 1 An Overview of Robotic Mechanical Systems 1.1 Introduction In defining the scope of our subject, we have to establish the genealogy of robotic mechanical systems These are, obviously, a subclass of the much... 1.2 The General Structure of Robotic Mechanical Systems From Section 1.1, then, a robotic mechanical system is composed of a few subsystems, namely, (i) a mechanical subsystem composed in turn of both rigid and deformable bodies, although the systems we will study here are composed only of the former; (ii) a sensing subsystem; (iii) an actuation subsystem; (iv) a controller; and (v) an information-processing... University of Munich was a source of encouragement and motivation to pursue the writing of the book Moreover, financial support from NSERC2 and Quebec’s FCAR, 3 in the form of research and strategic grants, are duly acknowledged IRIS,4 a 2 Natural Sciences and Engineering Research Council, of Canada Fonds pour la formation de chercheurs et l’aide a la recherche ` 4 Institute for Robotics and Intelligent . Kong London Milan Paris Tokyo TLFeBOOK Mechanical Engineering Series J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, 2nd ed. P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and. ed. TLFeBOOK Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Second Edition 123 TLFeBOOK Jorge Angeles Department of Mechanical Engineering and Centre for Intelligent. Fundamentals of Roboti c Mechanical Systems: Theory, Methods, and Algorithms, Second Edition Jorge Angeles Springer TLFeBOOK Mechanical Engineering Series Frederick