Advances in control of articulated and mobile robots

227 Pages·2004·8.646 MB·English

by  Bruno Siciliano, et al

(cid:1) (cid:1) (cid:1)
B.Siciliano A.DeLuca C.Melchiorri G.Casalino(Eds.)
Advances in Control
of Articulated
and Mobile Robots
With124Figuresand15Tables
1 3
ProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,Universita`degliStudidiNapoli
FedericoII,ViaClaudio21,80125Napoli,Italy,email:[email protected]
ProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,
Stanford,CA94305-9010,USA,email:[email protected]
ProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,
1098SJAmsterdam,TheNetherlands,email:[email protected]
STAR(SpringerTractsinAdvancedRobotics)hasbeenpromotedundertheauspicesofEURON(European
RoboticsResearchNetwork)
Editors
Prof.BrunoSiciliano Prof.AlessandroDeLuca
Dip.diInformaticaeSistemistica Dip.diInformaticaeSistemistica
Universita`diNapoliFedericoII Universita`diRoma“LaSapienza”
ViaClaudio21 ViaEudossiana18
80125Napoli,Italy 00184Roma,Italy
[email protected] [email protected]
Prof.ClaudioMelchiorri Prof.GiuseppeCasalino
Dip.diElettronica,Informatica Dip.diInformatica,Sistemistica
eSistemistica eTelematica
Universita`diBologna Universita`diGenova
ViaRisorgimento2 Viaall’OperaPia13
40136Bologna,Italy 16145Genova,Italy
[email protected] [email protected]
ISSN1610-7438
ISBN3-540-20783-X Springer-VerlagBerlinHeidelbergNewYork
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EUROPE
HermanBruyninckx,KULeuven,Belgium
RajaChatila,LAAS,France
HenrikChristensen,KTH,Sweden
PaoloDario,ScuolaSuperioreSant’AnnaPisa,Italy
Ru¨digerDillmann,Universita¨tKarlsruhe,Germany
AMERICA
KenGoldberg,UCBerkeley,USA
JohnHollerbach,UniversityofUtah,USA
LydiaKavraki,RiceUniversity,USA
TimSalcudean,UniversityofBritishColumbia,Canada
SebastianThrun,CarnegieMellonUniversity,USA
ASIA/OCEANIA
PeterCorke,CSIRO,Australia
MakotoKaneko,HiroshimaUniversity,Japan
SukhanLee,SungkyunkwanUniversity,Korea
YangshengXu,ChineseUniversityofHongKong,PRC
Shin’ichiYuta,TsukubaUniversity,Japan
Foreword
Atthedawnofthenewmillennium,roboticsisundergoingamajortransformation
inscopeanddimension.Fromalargelydominantindustrialfocus,roboticsisrapidly
expanding into the challenges of unstructured environments. Interacting with, as-
sisting,serving,andexploringwithhumans,theemergingrobotswillincreasingly
touchpeopleandtheirlives.
ThegoalofthenewseriesofSpringerTractsinAdvancedRobotics(STAR)isto
bring,inatimelyfashion,thelatestadvancesanddevelopmentsinroboticsonthe
basisoftheirsignificanceandquality.Itisourhopethatthegreaterdisseminationof
researchdevelopmentswillstimulatemoreexchangesandcollaborationsamongthe
researchcommunityandcontributetofurtheradvancementofthisrapidlygrowing
field.
AdvancesinControlofArticulatedandMobileRobotseditedbyBrunoSiciliano,
AlessandroDeLuca,ClaudioMelchiorri,andGiuseppeCasalinoprovidesaunique
collectionofasizablesegmentoftheroboticsresearchinItaly.Itreportsoncontri-
butionsfromtenacademicinstitutionsbroughttogetherwithinMISTRAL,anItalian
projectonroboticsresearch.
Thisten-chaptervolumecoversimportantresearchareasrangingfromplanning,
control,andactuationofarticulatedmechanismstosensing,perception,navigation,
and real-time control architectures of mobile robots. The focus is on fundamental
issuesrelatedtorobotssubjectedtononholonomicconstraints,timedelays,actuator
saturation, or joint friction. The work also addresses other key issues concerned
with the localization and mapping in unknown or partially known environments,
thepresenceofmovingobjects,theuseofmultiplesensors,andtheintegrationof
mobilityandmanipulation.
Thethoroughdiscussion,rigoroustreatment,andwidespanoftheworkunfold-
ing in these areas reveal the significant advances in the theoretical foundation and
technology basis of the robotics field. MISTRAL culminates with this important
reference to the world robotics community on the current developments and new
directionsundertakenbythisproject’sItalianroboticsteam!
Stanford,California OussamaKhatib
November2003 STAREditor
Preface
Sincethedevelopmentofroboticsforindustrialandmanufacturingapplicationsin
structuredenvironments,researchinthefieldhasbeengraduallyseekingatproviding
roboticsystemswithenhancedautonomyforoperationinunstructuredenvironments.
Significantexamplesincludecooperatingandassistingrobots,hapticinterfacesfor
virtualrealityandremoteoperationinhostileenvironments,mobilerobotsandau-
tonomousagentteams.Thechallengepresentedbysuchthemesdemandsadvanced
controltechniquesandarchitecturestoperformrobotictaskssuchasmanipulation,
interaction,teleoperation,locomotionandcooperation.
ThismonographstemsfromtheresearchprojectMISTRAL(Methodologiesand
IntegrationofSubsystemsand TechnologiesforAnthropic RoboticsandLocomo-
tion), funded in 2001–2002 by the Italian Ministry for Education, University and
Research(MIUR),involvingasignificantportionofthenationalacademicrobotcon-
trolcommunity;namely,theresearchgroupsat:UniversityofBologna,University
ofGenoa,PolytechnicalUniversityofMarche,PolytechnicofMilan,Universityof
Naples,UniversityofPisa,UniversityofRome“LaSapienza”,UniversityofRome
“TorVergata”,ThirdUniversityofRome,PolytechnicofTurin.Acompletedescrip-
tionoftheprojectisavailableatthewebsitehttp://www-lar.deis.unibo.it/mistral.
The aim of this monograph is to provide an updated source of information on
thestateoftheartinadvancedcontrolofarticulatedandmobilerobots,alongwith
atasteofsignificanceandimpactofnewresearchinthefield.Anumberofrelevant
problems have been selected dealing with enhanced actuation, motion planning
andcontrolfunctionsforarticulatedrobots,aswellasofsensoryandautonomous
decisioncapabilitiesformobilerobots.
Thematerialhasbeenorganizedasfollows.Thefirsttwochaptersaredevotedto
tutorial/surveypresentationsontwocriticalissueswhencontrollingaroboticsystem:
planning motion in the presence of differential constraints, and copying with time
delayinremoteoperation,respectively.Theremainingcontentshavebeenordered
inaprogressiveway;thenextfourchaptersdealwithcontrolofarticulatedrobots,
whereas the final four chapters are focused on planning, localization and servoing
ofmobilerobots.Areadingtrackalongthevariouscontributionsofthetenchapters
ofthevolumeisoutlinedinthefollowing.
The volume starts with a comprehensive tutorial by De Luca et al. on mo-
tion planning for a class of robotic systems subject to nonholonomic differential
constraints. Of special concern is the problem of planning point-to-point motion
forsystemssubjecttonon-integrablefirstandsecond-orderdifferentialconstraints.
The solutions outlined for both non-flat nonholonomic kinematic systems and flat
underactuateddynamicsystemsdemonstratethegeneralityoftheapproach.
Teleoperation has historically been one of the pioneering areas in robotics.
The key problem from a control viewpoint has been to cope with time delay. The
chapterbyArcaraandMelchiorripresentsanextensivesurveyofthemostadopted
X Preface
techniques for telemanipulation.Control schemes arecritically comparedin terms
of suitable criteria, and one type of passive controller is analyzed in detail for
performanceenhancement purposes.
As outlinedabove, theissueofperformanceplays acrucial rolein robot control.
Thechapter by Morabitoet al.concentrates ona specificphenomenon whichmay
deteriorate performance in a robot manipulator undergoing actuator torque satura-
tion. An effective anti-windup control law is proposed which is remarkably based
on simpleandintuitiveparameter tuning.
Thefollowing twochapters aredevoted to theproblemofmodellingandcom-
pensation of nonlinear friction in robot joint actuators, yet another effect which
must beproperly takenintoaccount whendesigningadvancedcontrol systems.The
chapter by Ferretti,MagnaniandRoccodemonstrates how the useofhigh-resolution
encoders allows an accurate analysis of the dynamic behavior of friction forces in
the so-calledpresliding regime,andespecially in thepresenceofhysteresis loops.
On the other hand, the treatment of nonlinear friction in the chapter by Bona,
IndriandSmaldoneis framedinto thecontext ofrapidprototypingofmodel-based
robot controllers.Generalissues related tobothhardwareand softwarearchitectures
are critically surveyed with the goal of achieving fast and systematic interaction
between thealgorithmicdesignphaseand theexperimental testing.
The use of visual sensors is argued to have high impact for operation in un-
structuredenvironments,especially if the robot is visually servoedinaclosed-loop
controlfashion.Theproblemofvisual trackingof 3Dobjects is treatedin thechap-
ter by Caccavale et al., where a combined Extended Kalman Filter/Binary Space
Partition tree techniqueis developed toachieve real-timeestimationof theposition
and orientation of moving objects of known geometry using a fixed stereo camera
system.
The remainingfour chapters deal withissues concerningmobile robots.Thede-
velopment ofareal-timecontrolarchitecturefor aprototypeofdifferentially-driven
wheeledmobile robot is discussedin thechapter by Belliniet al..The solution resorts
toRTLinux operating system which seems togainincreasingpopularity within the
research community; the software architecture includes low level motor feedback,
highlevel trajectory loops,andcommunicationprotocols throughanEthernet radio
link.
The chapter by Casalino and Turetta addresses the problem of coordinating
the manoeuvring of a nonholonomic vehicle with the motion of a supported ma-
nipulation system, composed either by a single arm or by two arms. Kinematic
redundancy is suitable exploited to optimize a number of constraints according to
a systematic approach which ensures modularity and scalability within the overall
vehicle-manipulator robotic system.
Sensory data fusion is covered in the chapter by Bonci et al., where different
methods andalgorithms areintroducedfor theaccuratelocalizationofmobile robots
onagivenmap,by integrationofodometric,gyroscope, sonar and videocameramea-
sures usingaKalmanfilteringapproach.On theother hand,different probabilistic
methods areemployedfor theexplorationof unknownenvironments.
Preface XI
The volume ends with the chapter by Bicchi et al. which considers three main
problems arising in the navigation of autonomous vehicles in partially or totally
unknown environments; namely, map building, localization, and motion servoing.
The result is ageneralizationofSLAM, whichallows thelocalizationandmapping
problems tobecast ina unifiedframework with thecontrolproblem.
Themonographis addressed topostgraduate students, researchers, scientists and
scholars who wish tobroadenand strengthen their knowledgeincontrolof robotic
systems.
Besides thankingall theAuthors for their valuablecontributions to this mono-
graph, we wish to extend our appreciation to all the participants to the MISTRAL
project whohaveproduced significant research results during the latest two years.
Warmest thanks arealsofor Thomas Ditzinger at Springer-VerlaginHeidelberg.A
final wordof thanks goes toCostanzoManes for thepictorialillustrationbelow.
Italy BrunoSiciliano
October2003 AlessandroDeLuca
ClaudioMelchiorri
GiuseppeCasalino
Contents
PlanningMotions for RoboticSystems Subject toDifferentialConstraints 1
AlessandroDeLuca,GiuseppeOriolo,MarilenaVendittelli,StefanoIannitti
1 Introduction..................................................... 1
2 Modeling ....................................................... 3
3 Planningfor Non-Flat KinematicSystems ............................ 7
4 Planningfor Flat DynamicSystems ................................. 20
5 Conclusion...................................................... 34
Comparison and Improvement of Control Schemes
for Robotic TeleoperationSystems withTimeDelay . . . . . . . . . . . . . . . . . . 39
PaoloArcara,ClaudioMelchiorri
1 Introduction..................................................... 39
2 BasicDefinitions andControlSchemes .............................. 40
3 ComparisonCriteriaandResults .................................... 45
4 TheIPC ........................................................ 49
5 Conclusion...................................................... 59
MeasuringandImprovingPerformanceinAnti-WindupLaws
for Robot Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
FedericoMorabito,SalvatoreNicosia,Andrew R.Teel,LucaZaccarian
1 Introduction..................................................... 61
2 ProblemData.................................................... 63
3 ANonlinear Anti-WindupSolution ................................. 65
4 MeasuringandImproving theAnti-WindupPerformance ............... 68
5 Anti-WindupConstructionExamples ................................ 71
6 Conclusion...................................................... 84
Model-BasedFrictionCompensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
GianniFerretti,GianantonioMagnani,PaoloRocco
1 Introduction..................................................... 87
2 IdentificationandValidationof theModel............................ 94
3 FrictionCompensation:ExperimentalResults ......................... 96
4 Conclusion...................................................... 98
Architectures for RapidPrototypingofModel-BasedRobot Controllers . . 101
BasilioBona,MarinaIndri,NicolaSmaldone
1 Introduction.....................................................101
2 RapidPrototyping................................................103
3 ThePrototypingEnvironment ......................................112
4 DescriptionofaTest Case:PrototypingaModel-BasedCompensation
ofNonlinear Joint Friction ........................................ 117
5 Conclusion......................................................122
XIV Contents
Real-TimeVisualTrackingof 3DObjects . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
FabrizioCaccavale,VincenzoLippiello,BrunoSiciliano,LuigiVillani
1 Introduction.....................................................125
2 Modelling ......................................................127
3 KalmanFiltering.................................................129
4 BSPTreeGeometricModelling ....................................130
5 Features Selection................................................133
6 EstimationProcedure .............................................138
7 Experiments .....................................................139
8 Conclusion......................................................148
RTLinux-BasedController for theSuperMARIOMobileRobot . . . . . . . . 153
ClaudioBellini,StefanoPanzieri,FedericaPascucci,GiovanniUlivi
1 Introduction.....................................................153
2 TheNew SuperMARIOMobileRobot ...............................154
3 TheMotor Interface ..............................................154
4 TheMotor ControlAlgorithm......................................160
5 TheRTLinux Architecture.........................................163
6 RTLinux ControlArchitectureandCommunicationProtocol ............165
7 TimingAccuracy Experiments .....................................168
8 Conclusion......................................................168
Coordination and Control of Multiarm Nonholonomic Mobile
Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
GiuseppeCasalino,AlessioTuretta
1 Introduction.....................................................171
2 ControlofaFixed-BaseSingleArmwithSingularity Avoidance.........173
3 ControlofaSingle-ArmNonholonomicMobileManipulator ............176
4 ControlofaDual-ArmNonholonomicMobileManipulator .............179
5 Object ManipulationviaDual-ArmNonholonomicMobileManipulator...182
6 SimulationResults ...............................................184
7 Conclusion......................................................185
Methods andAlgorithms for Sensor DataFusionAimedat Improving
theAutonomyofaMobileRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
AndreaBonci,GianlucaIppoliti,LeopoldoJetto,TommasoLeo,
SauroLonghi
1 Introduction.....................................................191
2 TheSensory Equipment ...........................................195
3 EstimationofRobot Locationby KalmanFilter .......................199
4 UltrasonicandVideoDataFusionfor MapBuilding ................... 209
5 Conclusion...................................................... 218
Contents XV
OntheProblemofSimultaneous Localization,MapBuilding,
andServoingofAutonomous Vehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
AntonioBicchi,FedericoLorussi,PierpaoloMurrieri,VincenzoScordio
1 Introduction..................................................... 223
2 Modelingof theSLAMSProblem ................................. .224
3 Approaches to theSLAMProblem.................................. 226
4 Solvability andOptimizationofSLAM .............................. 230
5 Simultaneous LocalizationandServoing ............................. 236
6 Conclusion...................................................... 239