Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

536 Pages·2004·25.329 MB·English

by  Jorge Angeles (eds.)

Mechanical Engineering Series
Frederick .F gniL
Series Editor
regnirpS
New kroY
Berlin
Heidelberg
Hong Kong
London
Milan
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Mechanical Engineering Series
.J Angeles, Fundamentals of Robotic Mechanical Systems:
Theory, Methods, and Algorithms, 2nd ed.
.P Basu, .C Kefa, L. and Jestin, Boilers and Burners: Design and Theory
J.M. Berthelot, Composite Materials:
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I.J. Busch-Vishniac, Electromechanical Sensors andA ctuators
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.G Chryssolouris, Laser Machining: Theorya nd 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 Garcia ed Jal6n 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 oHfe at Transfer in PorousM edia, 2nd ed.
E.N. Kuznetsov, Underconstrained Structural Systems
(continued rel~ja index)
Mechanical Engineering Series
'ontinueJ ¢ y om page
.P Ladeveze, 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
.E.E 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 Moire:
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E.p. Rimrott, Introductory Attitude Dynamics
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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.
egroJ s e l e g n A
Fundamentals of Robotic
Mechanical Systems
,yroehT Methods, dna smhtiroglA
d n o c e S noitidE
~ regnirpS
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
Williaxn Howaxd 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)
J211 T .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 ori n 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 methodologyn ow known or hereafter developed is forbidden.
The use in this publication of trade names, trademaxks, 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
To Anne-Marie~ who has given me
not only her love~ but also her precious ~en~it
without which this book would not have been possible.
Mechanical Engineering Series
. v Frederick t Ling
Series Editor
Advisory Board
Applied Mechanics EA. Leckie
University of California,
Santa Barbara
Biomechanics .C.V Mow
Columbia University
Computational Mechanics Yang H.T.
University of California,
Santa Barbara
Dynamical Systems and Control K.M. Marshek
University of Austin Texas,
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 Winer W.O.
Georgia Institute of Technology
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~ ~exas th~ederick .~t Ling
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 F',r~damer~tals of Robotic Mechar~ical 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 Sojo,trr~er on Mars, with the wheeled robot Pathfir~der
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 Car~adarm2, the successor of Car~adarm, 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 ~realo q,testior~
mentioned in the first edition was definitely closed in 1998 with a paper pre-
sented at the Ir~terr~atior~al WorkshoI) ~ro Advar~ces kri Robot Kir~ematics.
This question pertains to the 40th-degree polynomial derived by Hust~
as reported in 1996 in a paper in Mechar~ism arid Machir~e Theor~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
x Preface to the Second Edition
platform that indeed lead to 40 real solutions. The conclusion then is that
Husty's polynomial is indeed minimal.
In producing the Second Edition, we took the opportunity to clear the
manuscript of errors and inaccuracies. An in-depth revision was conducted
in-between. Special thanks go to Dr. Kourosh Etemadi Zanganeh, Can-
met (Nepean, Ontario, Canada), for his invaluable help in the rewrit-
ing of Chapter 8. Profs. Carlos Ldpez-Cajdn, Universidad Autdnoma de
Quer~taro (Mexico), and J. Jesds Cervantes-S~nchez, Universidad de Gua-
najuato (Mexico) pointed out many inconsistencies in the first edition.
Moreover, Dr. Zheng Liu, Canadian Space Agency, St.-Hubert (Quebec,
Canada), who is teaching a course based on the first six chapters of the
book at McGill University, pointed out mistakes and gave valuable sugges-
tions for improving the readability of the book. All these suggestions were
incorporated in the Second Edition as suggested, except for one: While
Dr. Liu suggested to expand on the use of Euler angles in Chapter 2, be-
cause of their appeal to robotics engineers in industry, we decided to add,
instead, a couple of exercises to the list corresponding to this chapter. The
reason is that, in the author's personal opinion, Euler angles are a neces-
sary evil. Not being frame-invariant, their manipulation tends to become
extremely cumbersome, as illustrated with those examples. Euler angles
may be good for visualizing rigid-body rotations, but they are very bad
at solving problems associated with these rotations using a computer or
simple longhand calculations. Needless to say, the feedback received from
students throughout over 15 years of using this material in the classroom,
is highly acknowledged.
One word of caution is in order: RVS, the software system used to vi-
sualize robot motions and highlighted in the first edition, has not received
either maintenance or updating. It still runs on SGI machines, but we have
no plans for its porting into Windows.
Since there is always room for improvement, we welcome suggestions from
our readership. Please address these to the author, to the e-mail address
included below. Updates on the book will be posted at
www. cim. mcgill, ca/~rmsl
The Solutions Manual has been expanded, to include more solutions of
sampled problems. By the same token, the number of exercises at the end of
the book has been expanded. The manual is typeset in DTEX with Autocad
drawings; it is available upon request from the publisher.
Last, but by no means least, thanks are due to Dr. Svetlana Ostrovskaya,
a Postdoctoral Fellow at McGill University, for her help with Chapter 10
and the editing of the Second Edition.
Montreal, January 2002 Angeles Jorge
angeles~cim, mcgill,
ca