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  • Foundations of Robotics - Anaylsis and Control

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    Fernando Arce
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    This book covers mainly the theoretical fundamentals of mechanism analysis and control of robot manipulators. The motion subsystem is the physical structure that carries out desired motions, corresponding to human arms or legs. The recognition subsystem uses various sensors to gather information about any objects being acted upon, about the robot itself, and about the environment. For the control subsystem, position control of an end effector, control of the force applied by the end effector on the object, and the control of redundant manipulators are discussed.

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    This book covers mainly the theoretical fundamentals of mechanism analysis and control of robot manipulators. The motion subsystem is the physical structure that carries out desired motions, corresponding to human arms or legs. The recognition subsystem uses various sensors to gather information about any objects being acted upon, about the robot itself, and about the environment. For the control subsystem, position control of an end effector, control of the force applied by the end effector on the object, and the control of redundant manipulators are discussed.

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    Attribution Non-Commercial (BY-NC)
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    40 views281 pages

    Foundations of Robotics - Anaylsis and Control

    Uploaded by

    Fernando Arce
    This book covers mainly the theoretical fundamentals of mechanism analysis and control of robot manipulators. The motion subsystem is the physical structure that carries out desired motions, corresponding to human arms or legs. The recognition subsystem uses various sensors to gather information about any objects being acted upon, about the robot itself, and about the environment. For the control subsystem, position control of an end effector, control of the force applied by the end effector on the object, and the control of redundant manipulators are discussed.

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    1 Overview of Robotic Mechanisms and Controller ‘A robot system generally consists of three subsystems: a motion subsystem, ‘ recognition subsystem, and a control subsystem (figure 1.1), The motion subsystem is the physical structure that carries out desired motions, corre- sponding to human arms or legs. The recognition subsystem uses various sensors to gather information about any objects being acted upon, about the robot itself, and about the environment; it recognizes the robot's state, the objects, and the environment from the gathered information. The control subsystem influences the motion subsystem to achieve a given task using the information from the recognition subsystem. This book covers mainly the theoretical fundamentals of mechanism analysis and control of robot manipulators which are necessary for design ing their mechanisms and their controller. For the motion subsystem described above, manipulator mechanisms that function like human arms will be the subject of this book. Their kinematics, dynamics, and perfor- ‘mance evaluation are discussed. For the control subsystem, position con- trol of an end effector, control of the force applied by the end effector on an object, and the control of redundant manipulators are discussed. The recognition subsystem plays a key role in using robots outside of factories, and in making robots intelligent. However, this subsystem will not be examined closely, since in this book a recognition subsystem need only provide information about position, velocity, and force. This chapter discusses several typical mechanisms and controllers of robot manipulators in order to acquaint the reader with the hardware that will be dealt with in the following chapters. 1.1 Mechanisms Most robot manipulators can be regarded as open-loop link mechanisms consisting of several links connected together by joints. Typical joints are revolute joints and prismatic joints, which are represented by the symbols shown in figure 1.2. Joint c in this figure is sometimes called the pivot joint to distinguish it from joint b. The endpoint of the mechanism is moved by driving these joints with appropriate actuators. A manipulator can usually be divided into an arm portion, a wrist portion, and a hand portion. Several typical mechanisms of the arm and wrist portions will be shown. The hand is not addressed here, since its mechanism depends on the task to be performed. 2 Chapter 1 usin siestem | : © t ' te fd computer Dec ernment nc seston Figure 1 Robot system. ; ® @ Figure 12 Symbols of joints ( 146) Revolote joint 2.(et) Up-and-down rotation, €2) Back-andforth rotation ‘ows show direction of motion) (a) Prismatic joint. (b) Revolute joint Figure 1.3 shows several types of arm mechanisms: (a) the orthogonal- coordinate type, (b) the cylindrical-coordinate type, (c) the polar-coordinate type, (d) the vertical multi-joint type, and (¢) the horizontal multi-joint type. Type a is structurally simple and rigid, and so its positioning accuracy is high. Types b-e are inferior to type a in positioning accuracy; however, they need less floor area for a base, and they have broader reach. Every ‘mechanism in figure 1.3 has three degrees of freedom, which is the minimum number of degrees of freedom needed for placing the endpoint of the arm at an arbitrary point in three-dimensional space. Here the degree of freedom is defined as the minimal number of position variables necessary for com pletely specifying the configuration of a mechanism. ‘The wrist is connected to the end of the arm portion. The main role of the wrist is to change the orientation of the hand. Examples of wrist ‘mechanisms are shown in figure 1.4. Type a is similar to the human wrist; ‘Overview r. @ Figure 1.3 ‘Arm mechanisms. (a) Orthogonal

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