Modelling and Control of Robot Manipulators

390 Pages·2000·6.958 MB·English

by  Professor Lorenzo Sciavicco, Professor Bruno Siciliano (auth.)

Advanced Textbooks in Control and Signal Processing
SeriesEditors
ProfessorMichaelJ.Grimble,ProfessorofIndustrialSystemsandDirector
ProfessorMichaelA.Johnson,ProfessorofControlSystemsandDeputyDirector
IndustrialControlCentre,DepartmentofElectronicandElectricalEngineering,
UniversityofStrathc1yde,GrahamHillsBuilding,50GeorgeStreet,GlasgowGIlQE,U.K.
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Lorenzo Sciavicco and Bruno Siciliano
Modelling and Control
of Robot Manipulators
Second Edition
With 190Figures
i
Springer
~...,~
~~
Professor 1. Sciavicco
Dipartimento di Informatica e Automazione, Universită. degli Studi di Roma Tre,
Via della Vasca Navale 79, 00146 Rome, Italy
Professor B. Siciliano
Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II,
Via Claudio 21, 80125 Naples, Italy
British Library Cataloguing in Publication Data
Sciavicco, L.
Modelling and control of robot manipulators. -2nd ed. -
(Advanced textbooks in control and signal processing)
l.Robots -Control systems 2.Robots -Motion 3.Manipulators
(Mechanism)
I.Title II.Siciliano, Bruno, 1959-
629.8'92
ISBN 978-1-8'233-221-1
Library of Congress Cataloging-in-Publication Data
Sciavicco, L. . (Lorenzo)
Modelling and control of robot manipulators / L. Sciavicco and B. Siciliano.
p. cm. --(Advanced textbooks in control and signal processing)
!neludes bibliographica1 references and index.
ISBN 978-1-85233-221-1 ISBN 978-1-4471-0449-0 (eBook)
DOI 10.1007197&-1-4471-0449-0
1. Robots--Control systems. 2. Manipulators (Mechanism) I. Siciliano, Bruno, 1959-
II. Title. III. Series.
TJ211.35.S432000
629.8'92--dc21 99-462018
Apart from any iair dealing for the purposes of research or private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced,
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publishers.
Advanced Textbooks in Control and Signal Processing series ISSN 1439-2232
ISBN 978-1-85233-221-1
Springer Science+Business Media
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Ist edition published by McGraw Hill !nc., 1996
© Springer-Verlag London 2000
Originally published by Springer-Verlag London Limited in 2000
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To ourfamilies
Series Editors' Foreword
The topics ofcontrol engineering and signal processing continue to flourish and de
velop. Incommonwithgeneralscientific investigation,new ideas,conceptsand inter
pretationsemergequitespontaneouslyandthesearethendiscussed,used,discardedor
subsumedinto theprevailingsubjectparadigm. Sometimesthese innovativeconcepts
coalesce into a new sub-discipline within the broad subject tapestry ofcontrol and
signal processing. This preliminarybattlebetweenold and new usually takes placeat
conferences, through the Internet and in the journals ofthe discipline. After a little
more maturity has been acquired by the new concepts then archival publication as a
scientificorengineeringmonographmay occur.
A new concept in control and signal processing is known to have arrived when
sufficient material has developed for the topic to be taught as a specialised tutorial
workshop or as a course to undergraduates, graduates or industrial engineers. The
AdvancedTextbooks in ControlandSignalProcessing Series isdesigned as a vehicle
forthesystematicpresentationofcoursematerialforbothpopularandinnovativetopics
in thediscipline. Itis hopedthatprospectiveauthors will welcomethe opportunityto
publishastructuredpresentationofeitherexistingsubjectareasorsomeofthe newer
emergingcontroland signal processingtechnologies.
TheauthorsLorenzoSciaviccoand BrunoSicilianodeclare thatrobotics is more
than fifteen years old and is a young subject! Yet, this textbook shows that a well
establishedparadigmofclassicalrobotics exists and the bookprovidesan invaluable
presentation ofthe subject. TheSeries is fortunate in beingable to welcome this text
as asecond edition. Thus it is an updated text which has benefited from the authors'
teaching practiceand an awareness ofvery recentdevelopments in the field. Notable
in thissense is the inclusionofmaterialon vision sensorsand trajectory planning.
As a course textbook, the authors have explained how various chapters may be
drawntogethertoformacourse.Further,thebookissupportedbyaSolutionsManual.
Last, but not least we ought to mention three very substantial Appendices giving
useful supplementary material on the necessary mathematics, rigid body dynamics
andfeedbackcontrol.Afine newaddition to theSeries!
MJ. GrimbleandM.A. Johnson
IndustrialControlCentre
Glasgow,Scotland,U.K.
December 1999
About the Authors
Lorenzo Sciavicco was born in Rome, Italy, on December 8, 1938. He received
the Laurea degree in Electronic Engineering from the University ofRome in 1963.
From 1968 to 1995 he was with the University ofNaples, where he served as Head
ofthe DepartmentofComputer and Systems Engineering from 1992 to 1995. He is
currentlyProfessorintheDepartmentofComputerEngineeringandAutomationofthe
Third UniversityofRome. Hisresearchinterestsincludeautomaticcontroltheoryand
applications, inversekinematics, redundantmanipulatorcontrol,force/motion control
and cooperative robots. He is co-author of more than 80 journal and conference
papers,and he isco-authorofthe bookModeling andControlofRobotManipulators
(McGraw-Hill1996).ProfessorSciaviccohasbeenoneofthepioneersofrobotcontrol
research in Italy, and has been awarded numerous grants for his robotics group. He
has served as a referee for industrial and academic research projects on robotics and
automation in Italy.
[email protected] http://www.dia.uniroma3.it/automlSciavicco
Bruno Siciliano was born in Naples, Italy, on October 27, 1959. He received the
LaureadegreeandtheResearchDoctoratedegreeinElectronicEngineeringfromthe
UniversityofNaplesin 1982and 1987,respectively. From 1983to 2000he was with
the Department ofComputer and Systems Engineering ofthe University ofNaples.
SinceNovember2000heisProfessorin theDepartmentofInformationandElectrical
Engineeringofthe UniversityofSalerno. From September 1985 to June 1986he was
aVisitingScholarattheSchoolofMechanicalEngineeringoftheGeorgiaInstituteof
Technology.His research interests includeinversekinematics, redundantmanipulator
control,modellingandcontrolofflexiblearms,force/motionandvision-basedcontrol,
andcooperativerobots.Heisco-authorofmorethan 180journalandconferencepapers,
and he is co-authorofthe books: Modeling and Control ofRobotManipulators with
Solutions Manual (McGraw-Hill 1996), Theory ofRobot Control (Springer 1996),
Robot Force Control (Kluwer 1999). He is co-editor of4journal special issues, and
he isco-editorofthe books: Control ProblemsinRoboticsandAutomation(Springer
1998), RAMSETE (Springer 2001), Experimental Robotics Vlll (Springer2002). He
has delivered more than 70 invited seminars abroad. Professor Siciliano has served
as an Associate Editor ofthe IEEE Transactions on Robotics and Automation from
1991 to 1994, and of the ASME Journal ofDynamic Systems, Measurement, and
Controlfrom 1994to1998.Heisco-editoroftheAdvancedRoboticsSeries(Springer),
and he is on the Editorial Boards of Robotica, the Journal ofRobotic Systems and
the JSME International Journal. He is an IEEE Fellow and an ASME Member. He
has held representative positions within the IEEE RoboticsandAutomation Society:
AdministrativeCommitteeMemberfrom 1996to 1999,Vice-PresidentforPublications
in 1999,andVice-PresidentforTechnicalActivitiessince2000.From 1996to 1999he
hasbeenChairoftheTechnicalCommitteeonManufacturingandAutomationRobotic
Control ofthe IEEE Control Systems Society. He is Co-Chairfor Conferences and
Publicationsofthe undergoingEuropeanRoboticsResearchNetwork. He has served
as chair or co-chair for numerous international conferences. He has been awarded
numerousgrantsforhisroboticsgroup.
[email protected] http://cds.unina.itrsicilian
Preface to the Second Edition
The subject matter ofthis textbook is to be considered well assessed in the classical
robotics literature, in spite ofthe fact that robotics is generally regarded as a young
science.
Akey featureoftheFirstEdition wasrecognizedto bethe blendoftechnological
andinnovativeaspects with thefoundations ofmodellingandcontrolofrobotmanip
ulators. The purpose ofthis Second Edition with the new Publisher is to add some
material thatwas notcoveredbeforeas wellas tostreamlineand improvesomeofthe
previousmaterial.
The majoradditions regardChapter2 on kinematics; namely, the use ofthe unit
quaterniontodescribemanipulator'send-effectororientationasaneffectivealternative
to Eulerangles orangle and axis representations(Section 2.6), and the adoption ofa
closed chain in the design ofmanipulator structures (Sections 2.8.3 and 2.9.2). Not
only are these topics analyzed in the framework ofkinematics, butalso their impact
on differential kinematics, statics, dynamics and control is illustrated. In particular,
different types of orientation error are discussed for inverse kinematics algorithms
(Section 3.7.3), and the conceptofkineto-staticsduality is extended to manipulators
having a closed chain (Section 3.8.3). Yet, the dynamic model of a parallelogram
arm (Section 4.3.3)clearly shows the potential ofsuchdesign overthe kinematically
equivalent two-link planar arm. Further, the problem ofplanning a trajectory in the
operationalspaceisexpandedto encompassthedifferentdescriptionsofend-effector
orientation(Section5.3.3),andtheimplicationsforoperationalspacecontrolarebriefly
discussed (Section6.6.3).
Another addition regards the presentation ofthe main features ofvision sensors
(Section 8.3.4) which have lately been receivingquite adeal ofattention notonly in
research butalsoin theindustrialcommunity.
Finally, the bibliography has been updated with more reference texts in the in
troduction (Chapter 1) as well as with those references that have been used in the
preparationofthe new material (Chapters2to 8). New problemshavebeen proposed
and theSolutionsManualaccompanyingthebookhasbeen integratedaccordingly.
Naples, December1999 LorenzoSciaviccoandBruno Sicilianoo
°
Theauthorshavecontributedequallytothework,andthustheyaremerelylistedinalphabetical
order.
XII PrefacetotheSecondEdition
TheSolutionsManualforModellingandControlofRobotManipulators,Second
Edition(ISBN1-85233-221-2S)byBrunoSicilianoandLuigiVillanicanberequested
by textbookadoptersfrom
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