Biomimetic Robotics: Mechanisms and Control

by Ranjan Vepa

• ISBN13: 9780521895941
• ISBN10: 0521895944
• Edition: 1st
• Format: Hardcover
• Copyright: 2009-01-26
• Publisher: Cambridge University Press

Summary

This book is written as an initial course in robotics. It is ideal for study of unmanned aerial or underwater vehicles, a topic on which few books exist. It presents the fundamentals of robotics, from an aerospace perspective, by considering only the field of robot mechanisms. For an aerospace engineer, three dimensional and parallel mechanisms - flight simulation, unmanned aerial vehicles, and space robotics - take on an added significance. Biomimetic robot mechanisms are fundamental to manipulators, walking, mobile, and flying robots. As a distinguishing feature, this book gives a unified and integrated treatment of biomimetic robot mechanisms. It is ideal preparation for the next robotics module: practical robot control design. While the book focuses on principles, computational procedures are also given due importance. Students are encouraged to use computational tools to solve the examples in the exercises. The author has also included some additional topics beyond his course coverage for the enthusiastic reader to explore.

Table of Contents

Preface	p. xiii
Acronyms	p. xv
The Robot	p. 1
Robotics: An Introduction	p. 1
Robot-Manipulator Fundamentals and Components	p. 5
From Kinematic Pairs to the Kinematics of Mechanisms	p. 12
Novel Mechanisms	p. 13
Rack-and-Pinion Mechanism	p. 14
Pawl-and-Ratchet Mechanism	p. 14
Pantograph	p. 15
Quick-Return Mechanisms	p. 15
Ackermann Steering Gear	p. 16
Sun and Planet Epicyclic Gear Train	p. 17
Universal Joints	p. 17
Spatial Mechanisms and Manipulators	p. 18
Meet Professor da Vinci the Surgeon, PUMA, and SCARA	p. 20
Back to the Future	p. 23
Exercises	p. 24
Biomimetic Mechanisms	p. 25
Introduction	p. 25
Principles of Legged Locomotion	p. 27
Inchworm Locomotion	p. 29
Walking Machines	p. 30
Autonomous Footstep Planning	p. 31
Imitating Animals	p. 31
Principles of Bird Flight	p. 33
Mechanisms based on Bird Flight	p. 34
Swimming Like a Fish	p. 37
Biomimetic Sensors and Actuators	p. 39
Action Potentials	p. 43
Measurement and Control of Cellular Action Potentials	p. 46
Bionic Limbs: Interfacing Artificial Limbs to Living Cells	p. 47
Artificial Muscles: Flexible Muscular Motors	p. 51
Prosthetic Control of Artificial Muscles	p. 53
Applications in Computer-Aided Surgery and Manufacture	p. 55
Steady Hands: Active Tremor Compensation	p. 56
Design of Scalable Robotic Surgical Devices	p. 58
Robotic Needle Placement and Two-Hand Suturing	p. 60
Exercises	p. 61
Homogeneous Transformations and Screw Motions	p. 62
General Rigid Motions in Two Dimensions	p. 62
Instantaneous Centers of Rotation	p. 64
Rigid Body Motions in Three Dimensions: Definition of Pose	p. 64
Homogeneous Coordinates: Transformations of Position and Orientation	p. 65
General Motions of Rigid Frames in Three Dimensions: Frames with Pose	p. 66
The Denavit-Hartenberg Decomposition	p. 66
Instantaneous Axis of Screw Motion	p. 67
A Screw from a Twist	p. 69
Exercises	p. 70
Direct Kinematics of Serial Robot Manipulators	p. 74
Definition of Direct or Forward Kinematics	p. 74
The Denavit-Hartenberg Convention	p. 74
Planar Anthropomorphic Manipulators	p. 76
Planar Nonanthropomorphic Manipulators	p. 78
Kinematics of Wrists	p. 80
Direct Kinematics of Two Industrial Manipulators	p. 81
Exercises	p. 86
Manipulators with Multiple Postures and Compositions	p. 89
Inverse Kinematics of Robot Manipulators	p. 89
The Nature of Inverse Kinematics: Postures	p. 91
Some Practical Examples	p. 95
Parallel Manipulators: Compositions	p. 99
Parallel Spatial Manipulators: The Stewart Platform	p. 101
Workspace of a Manipulator	p. 105
	p. 107
Grasping: Mechanics and Constraints	p. 111
Forces and Moments	p. 111
Definition of a Wrench	p. 112
Mechanics of Gripping	p. 112
Transformation of Forces and Moments	p. 114
Compliance	p. 115
Passive and Active Compliance	p. 116
Constraints: Natural and Artificial	p. 116
Hybrid Control	p. 117
	p. 118
Jacobians	p. 120
Differential Motion	p. 120
Velocity Kinematics	p. 123
Translational Velocities and Acceleration	p. 124
Angular Velocities	p. 127
Definition of a Screw Vector: Instantaneous Screws	p. 127
Duality with the Wrench	p. 129
Transformation of a Compliant Body Wrench	p. 130
The Jacobian and the Inverse Jacobian	p. 131
The Mobility Criterion: Over constrained Mechanisms	p. 133
Singularities: Physical Interpretation	p. 134
Manipulability: Putting Redundant Mechanisms to Work	p. 136
Computing the Inverse Kinematics: The Lyapunov Approach	p. 137
Exercises	p. 140
Newtonian, Eulerian, and Lagrangian Dynamics	p. 142
Newtonian and Eulerian Mechanics	p. 142
Kinetics of Screw Motion: The Newton-Euler Equations	p. 145
Moments of Inertia	p. 146
Dynamics of a Link's Moment of Inertia	p. 147
Recursive Form of the Newton-Euler Equations	p. 149
Lagrangian Dynamics of Manipulators	p. 152
Forward and Inverse Dynamics	p. 154
The Principle of Virtual Work	p. 156
Exercises	p. 158
Path Planning, Obstacle Avoidance, and Navigation	p. 164
Fundamentals of Trajectory Following	p. 164
Path Planning: Trajectory Generation	p. 165
Splines, Bezier Curves, and Bernstein Polynomials	p. 167
Dynamic Path Planning	p. 172
Obstacle Avoidance	p. 174
Inertial Measuring and Principles of Position and Orientation Fixing	p. 180
Gyro-Free Inertial Measuring Units	p. 188
Error Dynamics of Position and Orientation	p. 189
Exercises	p. 193
Hamiltonian Systems and Feedback Linearization	p. 198
Dynamical Systems of the Liouville Type	p. 198
Hamilton's Equations of Motion	p. 199
Passivity of Hamiltonian Dynamics	p. 202
Hamilton's Principle	p. 203
Contact Transformation	p. 204
Hamilton-Jacobi Theory	p. 205
Significance of the Hamiltonian Representations	p. 206
Canonical Representations of the Dynamics	p. 207
Lie Algebras	p. 208
Feedback Linearization	p. 210
Partial State-Feedback Linearization	p. 213
Involutive Transformations	p. 214
Applications of Feedback Linearization	p. 215
Optimal Control of Hamiltonian and Near-Hamiltonian Systems	p. 223
Dynamics of Nonholonomic Systems	p. 225
The Bicycle	p. 228
Exercises	p. 236
Robot Control	p. 242
Introduction	p. 242
Adaptive and Model-Based Control	p. 242
Taxonomies of Control Strategies	p. 252
Human-Centered Control Methods	p. 252
Robot-Control Tasks	p. 257
Robot-Control Implementations	p. 258
Controller Partitioning and Feedforward	p. 259
Independent Joint Control	p. 260
HAL, Do You Understand JAVA?	p. 261
Robot Sensing and Perception	p. 263
Exercises	p. 269
Biomimetic Motive Propulsion	p. 272
Introduction	p. 272
Dynamics and Balance of Walking Biped Robots	p. 272
Dynamic Model for Walking	p. 272
Dynamic Balance during Walking: The Zero-Moment Point	p. 277
Half-Model for a Quadruped Robot: Dynamics and Control	p. 279
Modeling Bird Flight: Robot Manipulators in Free Flight	p. 281
Dynamics of a Free-Flying Space Robot	p. 282
Controlling a Free-Flying Space Robot	p. 284
Flapping Propulsion of Aerial Vehicles	p. 285
Unsteady Aerodynamics of an Aerofoil	p. 287
Generation of Thrust	p. 294
Controlled Flapping for Flight Vehicles	p. 299
Underwater Propulsion and Its Control	p. 301
Exercises	p. 304
Answers to Selected Exercises	p. 309
Appendix: Attitude and Quaternions	p. 317
Bibliography	p. 335
Index	p. 339
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