Robotics

by Siciliano, Bruno; Sciavicco, Lorenzo; Villani, Luigi; Oriolo, Giuseppe (COL)

• ISBN13: 9781846286414
• ISBN10: 1846286417
• Format: Hardcover
• Copyright: 2008-12-30
• Publisher: SPRINGER-VERLAG

Summary

The classic text on robot manipulator control now covers mobile robots too! Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics has been expanded to include coverage of mobile robots, visual control and motion planning. Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. Fundamental and technological topics are blended uniquely and developed clearly in twelve chapters'with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes kinematics, statics and dynamics of manipulators, trajectory planning and motion control in free space. Technological aspects include actuators, sensors, hardware- and software-control architectures and industrial robot-control algorithms. Established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control, force and visual control, mobile robots and motion planning are provided. To provide readers with a homogeneous background, appendices are included on linear algebra, rigid body mechanics, feedback control, and motion planning algorithms. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 100 end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual (downloadable from springer.com) containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

Author Biography

Bruno Siciliano is Professor of Control and Robotics at the University of Naples Federico II in Italy, President of the IEEE Robotics and Automation Society, and a Fellow of both IEEE and ASME. He is Co-Editor of the Springer Tracts in Advanced Robotics series, and the Springer Handbook of Robotics. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators, lightweight flexible arms, space robots, human-centered and service robotics. He has co-authored 6 books, 6 edited volumes, and over 240 technical papers. Lorenzo Sciavicco is Professor of Control and Robotics at the Third University of Rome in Italy. He has been one of the pioneers of robot control research. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation. He has co-authored 3 books, 1 edited volume, and over 100 technical papers. Luigi Villani is Associate Professor of Control and Robotics at the University of Naples Federico II in Italy. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators,and service robotics. He has co-authored 2 books, 1 edited volume, and over 120 technical papers. Giuseppe Oriolo is Associate Professor of Control and Robotics at the University of Rome "La Sapienza" in Italy. He is an Editor of the IEEE Transactions on Robotics. His research interests include nonlinear control and robotics, visual servoing, redundant manipulators, mobile and nonholonomic robots, motion planning, sensor-based navigation and exploration, and service robotics. He has co-authored 2 books and over 120 technical papers.

Table of Contents

Introduction	p. 1
Robotics	p. 1
Robot Mechanical Structure	p. 3
Robot Manipulators	p. 4
Mobile Robots	p. 10
Industrial Robotics	p. 15
Advanced Robotics	p. 25
Field Robots	p. 26
Service Robots	p. 27
Robot Modelling, Planning and Control	p. 29
Modelling	p. 30
Planning	p. 32
Control	p. 32
Bibliography	p. 33
Kinematics	p. 39
Pose of a Rigid Body	p. 39
Rotation Matrix	p. 40
Elementary Rotations	p. 41
Representation of a Vector	p. 42
Rotation of a Vector	p. 44
Composition of Rotation Matrices	p. 45
Euler Angles	p. 48
ZYZ Angles	p. 49
RPY Angles	p. 51
Angle and Axis	p. 52
Unit Quaternion	p. 54
Homogeneous Transformations	p. 56
Direct Kinematics	p. 58
Open Chain	p. 60
Denavit-Hartenberg Convention	p. 61
Closed Chain	p. 65
Kinematics of Typical Manipulator Structures	p. 68
Three-link Planar Arm	p. 69
Parallelogram Arm	p. 70
Spherical Arm	p. 72
Anthropomorphic Arm	p. 73
Spherical Wrist	p. 75
Stanford Manipulator	p. 76
Anthropomorphic Arm with Spherical Wrist	p. 77
DLR Manipulator	p. 79
Humanoid Manipulator	p. 81
Joint Space and Operational Space	p. 83
Workspace	p. 85
Kinematic Redundancy	p. 87
Kinematic Calibration	p. 88
Inverse Kinematics Problem	p. 90
Solution of Three-link Planar Arm	p. 91
Solution of Manipulators with Spherical Wrist	p. 94
Solution of Spherical Arm	p. 95
Solution of Anthropomorphic Arm	p. 96
Solution of Spherical Wrist	p. 99
Bibliography	p. 100
Problems	p. 100
Differential Kinematics and Statics	p. 105
Geometric Jacobian	p. 105
Derivative of a Rotation Matrix	p. 106
Link Velocities	p. 108
Jacobian Computation	p. 111
Jacobian of Typical Manipulator Structures	p. 113
Three-link Planar Arm	p. 113
Anthropomorphic Arm	p. 114
Stanford Manipulator	p. 115
Kinematic Singularities	p. 116
Singularity Decoupling	p. 117
Wrist Singularities	p. 119
Arm Singularities	p. 119
Analysis of Redundancy	p. 121
Inverse Differential Kinematics	p. 123
Redundant Manipulators	p. 124
Kinematic Singularities	p. 127
Analytical Jacobian	p. 128
Inverse Kinematics Algorithms	p. 132
Jacobian (Pseudo-)inverse	p. 133
Jacobian Transpose	p. 134
Orientation Error	p. 137
Second-order Algorithms	p. 141
Comparison Among Inverse Kinematics Algorithms	p. 143
Statics	p. 147
Kineto-Statics Duality	p. 148
Velocity and Force Transformation	p. 149
Closed Chain	p. 151
Manipulability Ellipsoids	p. 152
Bibliography	p. 158
Problems	p. 159
Trajectory Planning	p. 161
Path and Trajectory	p. 161
Joint Space Trajectories	p. 162
Point-to-Point Motion	p. 163
Motion Through a Sequence of Points	p. 168
Operational Space Trajectories	p. 179
Path Primitives	p. 181
Position	p. 184
Orientation	p. 187
Bibliography	p. 188
Problems	p. 189
Actuators and Sensors	p. 191
Joint Actuating System	p. 191
Transmissions	p. 192
Servomotors	p. 193
Power Amplifiers	p. 197
Power Supply	p. 198
Drives	p. 198
Electric Drives	p. 198
Hydraulic Drives	p. 202
Transmission Effects	p. 204
Position Control	p. 206
Proprioceptive Sensors	p. 209
Position Transducers	p. 210
Velocity Transducers	p. 214
Exteroceptive Sensors	p. 215
Force Sensors	p. 215
Range Sensors	p. 219
Vision Sensors	p. 225
Bibliography	p. 230
Problems	p. 230
Control Architecture	p. 233
Functional Architecture	p. 233
Programming Environment	p. 238
Teaching-by-Showing	p. 240
Robot-oriented Programming	p. 241
Hardware Architecture	p. 242
Bibliography	p. 245
Problems	p. 245
Dynamics	p. 247
Lagrange Formulation	p. 247
Computation of Kinetic Energy	p. 249
Computation of Potential Energy	p. 255
Equations of Motion	p. 255
Notable Properties of Dynamic Model	p. 257
Skew-symmetry of Matrix B - 2C	p. 257
Linearity in the Dynamic Parameters	p. 259
Dynamic Model of Simple Manipulator Structures	p. 264
Two-link Cartesian Arm	p. 264
Two-link Planar Arm	p. 265
Parallelogram Arm	p. 277
Dynamic Parameter Identification	p. 280
Newton-Euler Formulation	p. 282
Link Accelerations	p. 285
Recursive Algorithm	p. 286
Example	p. 289
Direct Dynamics and Inverse Dynamics	p. 292
Dynamic Scaling of Trajectories	p. 294
Operational Space Dynamic Model	p. 296
Dynamic Manipulability Ellipsoid	p. 299
Bibliography	p. 301
Problems	p. 301
Motion Control	p. 303
The Control Problem	p. 303
Joint Space Control	p. 305
Decentralized Control	p. 309
Independent Joint Control	p. 311
Decentralized Feedforward Compensation	p. 319
Computed Torque Feedforward Control	p. 324
Centralized Control	p. 327
PD Control with Gravity Compensation	p. 328
Inverse Dynamics Control	p. 330
Robust Control	p. 333
Adaptive Control	p. 338
Operational Space Control	p. 343
General Schemes	p. 344
PD Control with Gravity Compensation	p. 345
Inverse Dynamics Control	p. 347
Comparison Among Various Control Schemes	p. 349
Bibliography	p. 359
Problems	p. 360
Force Control	p. 363
Manipulator Interaction with Environment	p. 363
Compliance Control	p. 364
Passive Compliance	p. 366
Active Compliance	p. 367
Impedance Control	p. 372
Force Control	p. 378
Force Control with Inner Position Loop	p. 379
Force Control with Inner Velocity Loop	p. 380
Parallel Force/Position Control	p. 381
Constrained Motion	p. 384
Rigid Environment	p. 385
Compliant Environment	p. 389
Natural and Artificial Constraints	p. 391
Analysis of Tasks	p. 392
Hybrid Force/Motion Control	p. 396
Compliant Environment	p. 397
Rigid Environment	p. 401
Bibliography	p. 403
Problems	p. 404
Visual Servoing	p. 407
Vision for Control	p. 407
Configuration of the Visual System	p. 409
Image Processing	p. 410
Image Segmentation	p. 411
Image Interpretation	p. 416
Pose Estimation	p. 418
Analytic Solution	p. 419
Interaction Matrix	p. 424
Algorithmic Solution	p. 427
Stereo Vision	p. 433
Epipolar Geometry	p. 433
Triangulation	p. 435
Absolute Orientation	p. 436
3D Reconstruction from Planar Homography	p. 438
Camera Calibration	p. 440
The Visual Servoing Problem	p. 443
Position-based Visual Servoing	p. 445
PD Control with Gravity Compensation	p. 446
Resolved-velocity Control	p. 447
Image-based Visual Servoing	p. 449
PD Control with Gravity Compensation	p. 449
Resolved-velocity Control	p. 451
Comparison Among Various Control Schemes	p. 453
Hybrid Visual Servoing	p. 460
Bibliography	p. 465
Problems	p. 466
Mobile Robots	p. 469
Nonholonomic Constraints	p. 469
Integrability Conditions	p. 473
Kinematic Model	p. 476
Unicycle	p. 478
Bicycle	p. 479
Chained Form	p. 482
Dynamic Model	p. 485
Planning	p. 489
Path and Timing Law	p. 489
Flat Outputs	p. 491
Path Planning	p. 492
Trajectory Planning	p. 498
Optimal Trajectories	p. 499
Motion Control	p. 502
Trajectory Tracking	p. 503
Regulation	p. 510
Odometric Localization	p. 514
Bibliography	p. 518
Problems	p. 518
Motion Planning	p. 523
The Canonical Problem	p. 523
Configuration Space	p. 525
Distance	p. 527
Obstacles	p. 527
Examples of Obstacles	p. 528
Planning via Retraction	p. 532
Planning via Cell Decomposition	p. 536
Exact Decomposition	p. 536
Approximate Decomposition	p. 539
Probabilistic Planning	p. 541
PRM Method	p. 541
Bidirectional RRT Method	p. 543
Planning via Artificial Potentials	p. 546
Attractive Potential	p. 546
Repulsive Potential	p. 547
Total Potential	p. 549
Planning Techniques	p. 550
The Local Minima Problem	p. 551
The Robot Manipulator Case	p. 554
Bibliography	p. 557
Problems	p. 557
Appendices
Linear Algebra	p. 563
Definitions	p. 563
Matrix Operations	p. 565
Vector Operations	p. 569
Linear Transformation	p. 572
Eigenvalues and Eigenvectors	p. 573
Bilinear Forms and Quadratic Forms	p. 574
Pseudo-inverse	p. 575
Singular Value Decomposition	p. 577
Bibliography	p. 578
Rigid-body Mechanics	p. 579
Kinematics	p. 579
Dynamics	p. 581
Work and Energy	p. 584
Constrained Systems	p. 585
Bibliography	p. 588
Feedback Control	p. 589
Control of Single-input/Single-output Linear Systems	p. 589
Control of Nonlinear Mechanical Systems	p. 594
Lyapunov Direct Method	p. 596
Bibliography	p. 598
Differential Geometry	p. 599
Vector Fields and Lie Brackets	p. 599
Nonlinear Controllability	p. 603
Bibliography	p. 604
Graph Search Algorithms	p. 605
Complexity	p. 605
Breadth-first and Depth-first Search	p. 606
A* Algorithm	p. 607
Bibliography	p. 608
References	p. 609
Index	p. 623
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