Fundamentals of Robotic 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) 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 connection 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 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 Anne-Marie, who has given me not only her love, but also her 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 its substantial share in the call for industrial renewal The general call is urgent as we face profound issues 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 consulting 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; energetics; 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 Systems 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 successful landing of the Sojourner on Mars, with the wheeled robot Pathfinder roaming on the Martian landscape in 1997 Along the same lines, the infrastructure 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 theoretical 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 presented 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 workshop that is capable of generating a set of geometric parameters of the TLFeBOOK ... 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 Systems does not claim... 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. .. cm.— (Mechanical engineering series) Includes bibliographical references and index ISBN 0-387-95368-X (alk paper) Robotics I Title II Mechanical engineering series (Berlin, Germany) TJ211 A545 2002 629.8'92—dc21