CRC Press - Robotics and Automation Handbook Episode 1 Part 1 pptx

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ROBOTICS AND AUTOMATION HANDBOOK

E DITED BY

CRC PR E S S

Boca Raton London New York Washington, D.C

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Library of Congress Cataloging-in-Publication Data

Robotics and automation handbook / edited by Thomas R Kurfess.

p cm.

Includes bibliographical references and index.

ISBN 0-8493-1804-1 (alk paper)

1 Robotics Handbooks, manuals, etc I Kurfess, Thomas R.

TJ211.R5573 2000

1804_Disclaimer.fm Page 1 Tuesday, August 17, 2004 3:07 PM

Robots are machines that have interested the general population throughout history In general, they are machines or devices that operate automatically or by remote control Clearly people have wanted to use

such equipment since simple devices were developed The word robot itself comes from Czech robota,

“servitude, forced labor,” and was coined in 1923 (from dictionary.com) Since then robots have been characterized by the media as machines that look similar to humans Robots such as “Robby the Robot”

or Robot from the Lost in Space television series defined the appearance of robots to several generations.

However, robots are more than machines that walk around yelling “Danger!” They are used in a variety of tasks from the very exciting, such as space exploration (e.g., the Mars Rover), to the very mundane (e.g., vacuuming your home, which is not a simple task) They are complex and useful systems that have been employed in industry for several decades As technology advances, the capability and utility of robots have increased dramatically Today, we have robots that assemble cars, weld, fly through hostile environments, and explore the harshest environments from the depths of the ocean, to the cold and dark environment of the Antarctic, to the hazardous depths of active volcanoes, to the farthest reaches of outer space Robots take on tasks that people do not want to perform Perhaps these tasks are too boring, perhaps they are too dangerous, or perhaps the robot can outperform its human counterpart

This text is targeted at the fundamentals of robot design, implementation, and application As robots are used in a substantial number of functions, this book only scratches the surface of their applications However, it does provide a firm basis for engineers and scientists interested in either fabrication or utilizing robotic systems The first part of this handbook presents a number of design issues that must be considered

in building and utilizing a robotic system Both issues related to the entire robot, such as control and trajectory planning and dynamics are discussed Critical concepts such as precision control of rotary and linear axes are also presented at they are necessary to yield optimal performance out of a robotic system The book then continues with a number of specialized applications of robotic systems In these applications, such as the medical arena, particular design and systems considerations are presented that are highlighted

by these applications but are critical in a significant cross-section of areas It was a pleasure to work with the authors of the various sections They are experts in their areas, and in reviewing their material, I have improved my understanding of robotic systems I hope that the readers will enjoy reading the text as much

as I have enjoyed reading and assembling it I anticipate that future versions of this book will incorporate more applications as well as advanced concepts in robot design and implementation

The Editor

Thomas R Kurfess received his S.B., S.M., and Ph.D degrees in mechanical engineering from M.I.T in

1986, 1987, and 1989, respectively He also received an S.M degree from M.I.T in electrical engineering and computer science in 1988 Following graduation, he joined Carnegie Mellon University where he rose

to the rank of Associate Professor In 1994 he moved to the Georgia Institute of Technology where he is currently a Professor in the George W Woodruff School of Mechanical Engineering He presently serves

as a participating guest at the Lawrence Livermore National Laboratory in their Precision Engineering Program He is also a special consultant of the United Nations to the Government of Malaysia in the area

of applied mechatronics and manufacturing His research work focuses on the design and development

of high precision manufacturing and metrology systems He has chaired workshops for the National Science Foundation on the future of engineering education and served on the Committee of Visitors for NSF’s Engineering Education and Centers Division He has had similar roles in education and technology assessment for a variety of countries as well as the U.N

His primary area of research is precision engineering To this end he has applied advanced control theory

to both measurement machines and machine tools, substantially improving their performance During the past twelve years, Dr Kurfess has concentrated in precision grinding, high-speed scanning coordinate measurement machines, and statistical analysis of CMM data He is actively involved in using advanced mechatronics units in large scale applications to generate next generation high performance systems Dr Kurfess has a number of research projects sponsored by both industry and governmental agencies in this area He has also given a number of workshops, sponsored by the National Science Foundation, in the areas of teaching controls and mechatronics to a variety of professors throughout the country

In 1992 he was awarded a National Science Foundation Young Investigator Award, and in 1993 he received the National Science Foundation Presidential Faculty Fellowship Award He is also the recipient

of the ASME Pi Tau Sigma Award, the SME Young Manufacturing Engineer of the Year Award, the ASME Gustus L Larson Memorial Award and the ASME Blackall Machine Tool and Gage Award He has received the Class of 1940 W Howard Ector’s Outstanding Teacher Award and the Outstanding Faculty Leadership for the Development of Graduate Research Assistants Award while at Georgia Tech He is a registered Professional Engineer, and is active in several engineering societies, including ASEE, ASME, ASPE, IEEE

and SME He is currently serving as a Technical Associate Editor of the SME Journal of Manufacturing Systems, and Associate Editor of the ASME Journal of Manufacturing Science and Engineering He has served

as an Associate Editor of the ASME Journal of Dynamic Systems, Measurement and Control He is on the Editorial Advisory Board of the International Journal of Engineering Education, and serves on the board of

North American Manufacturing Research Institute of SME

Mohan Bodduluri

Restoration Robotics

Sunnyvale, California

Wayne J Book

Georgia Institute of Technology

Woodruff School of

Mechanical Engineering

Atlanta, Georgia

Stephen P Buerger

Massachusetts Institute of

Technology

Mechanical Engineering

Department

North Cambridge,

Massachusetts

Keith W Buffinton

Bucknell University

Department of Mechanical

Engineering

Lewisburg, Pennsylvania

Francesco Bullo

University of Illinois at

Urbana-Champaign

Coordinated Science

Laboratory

Urbana, Illinois

Gregory S Chirikjian

Johns Hopkins University

Department of Mechanical

Engineering

Baltimore, Maryland

Darren M Dawson

Clemson University Electrical and Computer Engineering

Clemson, South Carolina

Bram de Jager

Technical University of Eindhoven

Eindhoven, Netherlands

Jaydev P Desai

Drexel University MEM Department Philadelphia, Pennsylvania

Jeanne Sullivan Falcon

National Instruments Austin, Texas

Daniel D Frey

Massachusetts Institute of Technology

Mechanical Engineering Department North Cambridge, Massachusetts

Robert B Gillespie

University of Michigan Ann Arbor, Michigan

J William Goodwine

Notre Dame University Aerospace and Mechanical Engineering Department Notre Dame, Indiana

Hector M Gutierrez

Florida Institute of Technology Department of Mechanical and Aerospace Engineering Melbourne, Florida

Yasuhisa Hirata

Tohoku University Department of Bioengineering and Robotics

Sendai, Japan

Neville Hogan

Massachusetts Institute of Technology

Mechanical Engineering Department North Cambridge, Massachusetts

Kun Huang

University of Illinois at Urbana-Champagne Coordinated Sciences Laboratory Urbana, Illinois

Hodge E Jenkins,

Mercer University Mechanical and Industrial Engineering Department Macon, Georgia

Dragan Kosti´c

Technical University of Eindhoven

Eindhoven, Netherlands

Kazuhiro Kosuge

Tohoku University

Department of Bioengineering

and Robotics

Sendai, Japan

Kenneth A Loparo

Case Western Reserve

University

Department of Electrical

Engineering and

Computer Science

Cleveland, Ohio

Lonnie J Love

Oak Ridge National Laboratory

Oak Ridge, Tennessee

Stephen J Ludwick

Aerotech, Inc

Pittsburgh, Pennsylvania

Yi Ma

University of Illinois

at Urbana-Champagne

Coordinated Sciences

Laboratory

Urbana, Illinois

Siddharth P Nagarkatti

MKS Instruments, Inc

Methuen, Massachusetts

Mark L Nagurka

Marquette University Department of Mechanical and Industrial Engineering Milwaukee, Wisconsin

Chris A Raanes

Accuray Incorporated Sunnyvale, California

William Singhose

Georgia Institute of Technology Woodruff School of

Mechanical Engineering Atlanta, Georgia

Mark W Spong

University of Illinois at Urbana-Champagne Coordinated Sciences Laboratory Urbana, Illinois

Maarten Steinbuch

Technical University of Eindhoven

Eindhoven, Netherlands

Wesley L Stone

Valparaiso University Department of Mechanical Engineering

Wanatah, Indiana

Ioannis S Vakalis

Institute for the Protection and Security of the Citizen (IPSC) European Commission Joint Research Centre I Ispra (VA), Italy

Miloˇs ˇ Zefran

University of Illinois ECE Department Chicago, Illinois

1 The History of Robotics

Wesley L Stone

2 Rigid-Body Kinematics

Gregorg S Chirikjian

3 Inverse Kinematics

Bill Goodwine

4 Newton-Euler Dynamics of Robots

Mark L Nagurka

5 Lagrangian Dynamics

Miloˇs ˇ Zefran and Francesco Bullo

6 Kane’s Method in Robotics

Keith W Buffinton

7 The Dynamics of Systems of Interacting Rigid Bodies

Kenneth A Loparo and Ioannis S Vakalis

8 D-H Convention

Jaydev P Desai

9 Trajectory Planning for Flexible Robots

William E Singhose

10 Error Budgeting

Daniel D Frey

11 Design of Robotic End Effectors

Hodge Jenkins

12 Sensors

Jeanne Sullivan Falcon

13 Precision Positioning of Rotary and Linear Systems

Stephen Ludwick

14 Modeling and Identification for Robot Motion Control

Dragan Kosti´c, Bram de Jager, and Maarten Steinbuch

15 Motion Control by Linear Feedback Methods

Dragan Kosti´c, Bram de Jager, and Maarten Steinbuch

16 Force/Impedance Control for Robotic Manipulators

Siddharth P Nagarkatti and Darren M Dawson

17 Robust and Adaptive Motion Control of Manipulators

Mark W Spong

18 Sliding Mode Control of Robotic Manipulators

Hector M Gutierrez

19 Impedance and Interaction Control

Neville Hogan and Stephen P Buerger

20 Coordinated Motion Control of Multiple Manipulators

Kazuhiro Kosuge and Yasuhisa Hirata

21 Robot Simulation

Lonnie J Love

22 A Survey of Geometric Vision

Kun Huang and Yi Ma

23 Haptic Interface to Virtual Environments

R Brent Gillespie

24 Flexible Robot Arms

Wayne J Book

25 Robotics in Medical Applications

Chris A Raanes and Mohan Bodduluri

26 Manufacturing Automation

Hodge Jenkins

The History of

Robotics

Wesley L Stone

Western Carolina University

1.1 The History of Robotics

The Influence of Mythology • The Influence of Motion Pictures

• Inventions Leading to Robotics • First Use of the Word Robot

•First Use of the Word Robotics • The Birth of the Industrial Robot • Robotics in Research Laboratories

• Robotics in Industry • Space Exploration • Military and Law Enforcement Applications • Medical Applications

• Other Applications and Frontiers of Robotics

1.1 The History of Robotics

The history of robotics is one that is highlighted by a fantasy world that has provided the inspiration

to convert fantasy into reality It is a history rich with cinematic creativity, scientific ingenuity, and en-trepreneurial vision Quite surprisingly, the definition of a robot is controversial, even among roboticists

At one end of the spectrum is the science fiction version of a robot, typically one of a human form — an android or humanoid — with anthropomorphic features At the other end of the spectrum is the repetitive, efficient robot of industrial automation In ISO 8373, the International Organization for Standardization defines a robot as “an automatically controlled, reprogrammable, multipurpose manipulator with three

or more axes.” The Robot Institute of America designates a robot as “a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks.” A more inspiring definition is offered by Merriam-Webster, stating that a robot is “a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being.”

1.1.1 The Influence of Mythology

Mythology is filled with artificial beings across all cultures According to Greek legend, after Cadmus founded the city of Thebes, he destroyed the dragon that had slain several of his companions; Cadmus then sowed the dragon teeth in the ground, from which a fierce army of armed men arose Greek mythology also brings the story of Pygmalion, a lovesick sculptor, who carves a woman named Galatea out of ivory; after praying to Aphrodite, Pygmalion has his wish granted and his sculpture comes to life and becomes his bride Hebrew mythology introduces the golem, a clay or stone statue, which is said to contain a scroll with religious or magic powers that animate it; the golem performs simple, repetitive tasks, but is difficult

to stop Inuit legend in Greenland tells of the Tupilaq, or Tupilak, which is a creature created from natural

1-6 Robotics and Automation Handbook

handling, and machine vision In contrast to the ordered environment of manufacturing, field robotics involves robotic applications in highly unstructured settings, such as reconnaissance, surveillance, and explosive ordnance disposal Similar to field robotics, tactical mobile robots are being developed for un-structured surroundings in both military and commercial applications, supplementing human capabilities, such as searching through debris following disasters (earthquakes, bombed buildings, etc.) SRI’s pipeline robot, Magnetically Attached General Purpose Inspection Engine (MAGPIE), is designed to inspect natu-ral gas pipelines, as small as 15 cm in diameter, for corrosion and leakage, navigating through pipe elbows and T-joints on its magnetic wheels

In 1969 at Stanford University, a mechanical engineering student by the name of Victor Scheinman developed the Stanford Arm, a robot created exclusively for computer control Working in the Stanford Artificial Intelligence Lab (SAIL), Scheinman built the entire robotic arm on campus, primarily using the shop facilities in the Chemistry Department The kinematic configuration of the arm included six degrees

of freedom with one prismatic and five revolute joints, with brakes on all joints to hold position while the computer computed the next position or performed other time-shared duties The arm was loaded with DC electric motors, a harmonic drive, spur gear reducers, potentiometers, analog tachometers, electromechanical brakes, and a servo-controlled proportional electric gripper — a gripper with a 6-axis force/torque sensor in the wrist and tactile sense contacts on the fingers The highly integrated Stanford Arm served for over 20 years in the robotics laboratories at Stanford University for both students and researchers

The Stanford Cart, another project developed at SAIL, was a mobile robot that used an onboard television camera to navigate its way through its surroundings The Cart was supported between 1973 and 1980 by the Defense Advanced Research Projects Agency (DARPA), the National Science Foundation (NSF), and the National Aeronautics and Space Administration (NASA) The cart used its TV camera and stereo vision routines to perceive the objects surrounding it A computer program processed the images, mapping the obstacles around the cart This map provided the means by which the cart planned its path As it moved, the cart adjusted its plan according to the new images gathered by the camera The system worked very reliably but was very slow; the cart moved at a rate of approximately one meter every 10 or 15 minutes Triumphant in navigating itself through several 20-meter courses, the Stanford Cart provided the field of robotics with a reliable, mobile robot that successfully used vision to interact with its surroundings Research in robotics also found itself thriving on the U S East Coast at MIT At the same time Asimov

was writing his short stories on robots, MIT’s Norbert Wiener published Cybernetics, or the Control and Communication in the Animal and the Machine (1948) In Cybernetics Wiener effectively communicates

to both the trained scientist and the layman how feedback is used in technical applications, as well as everyday life He skillfully brought to the forefront the sociological impact of technology and popularized the concept of control feedback

Although artificial intelligence experienced its growth and major innovations in the laboratories of prestigious universities, its birth can be traced to Claude E Shannon, a Bell Laboratories mathematician, who wrote two landmark papers in 1950 on the topic of chess playing by a machine His works inspired John McCarthy, a young mathematician at Princeton University, who joined Shannon to organize a

1952 conference on automata One of the participants at that conference was an aspiring Princeton graduate student in mathematics by the name of Marvin Minsky In 1953 Shannon was joined by McCarthy and Minsky at Bell Labs Creating an opportunity to rapidly advance the field of machine intelligence, McCarthy approached the Rockefeller Foundation with the support of Shannon Warren Weaver and Robert S Morison at the foundation provided additional guidance and in 1956 The Dartmouth Summer Research Project on Artificial Intelligence was organized at Dartmouth University, where McCarthy was an assistant professor of mathematics Shannon, McCarthy, Minsky, and IBM’s Nat Rochester joined forces

to coordinate the conference, which gave birth to the term artificial intelligence.

In 1959 Minsky and McCarthy founded the MIT Artificial Intelligence Laboratory, which was the