ROMANSY 18 - Robot Design, Dynamics and Control (eBook)

Title Page 3
Copyright Page 4
PREFACE 5
Table of Contents 7
Keynote Lectures 13
Where Future Robots should Go and should not Go 14
1 Introduction 14
2 The Special Skill for Human and Robot 16
3 A Collaboration Style between Robots and Human 23
4 A Success Example in Robot Business 24
5 Where Future Robots should Go and should not Go 26
6 Concluding Remarks 26
Bibliography 27
Robust Drives for Parallel Robots 30
1 Introduction 31
2 Alternative Designs of the Tilt Generator 32
3 The Tilt-generating Spherical Linkage 33
4 The Kinnematics of the Two-dof Drive 36
5 The Tilt-generating Quasispherical Linkage 36
6 Conclusions 37
7 Acknowledgements 38
Bibliography 38
MInimal-Form Multibody Dynamiccs for Embed Multidisciplinary Applications 40
1 Introduction 40
2 Object-Oriented Modelling 41
3 Symbolical Code Generation 43
4 Application Examples 44
5 Conclusions and Acknowledgements 47
Bibliography 48
Chapter I Novel Robot Design and Robot Modules/Components 50
Constructive Redesign of a Modular Metamorphic Microgripper 51
1 Introduction 51
2 The MorphoGrip Architecture 52
3 Experimental Results 54
4 Constructive Re-Design of the Finger Module 55
5 Conclusions 57
References 58
A One-Motor Full-Mobility 6-PUS Manipulator 59
1 Introduction 59
2 Manipulator Architecture and Operation 60
3 Kinetostatics and Constraints on the Path 63
4 Conclusions 66
References 66
Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators 67
1 Introduction 67
2 Dynamic Modeling of Parallel Manipulator 68
3 Hybrid Position/Force Control Method 68
4 Experiments 70
4.1 Experimental Setup 71
4.2 Approaching and Contacting a Stiff Wall 72
4.3 Trajectory Tracking in Unconstrained Environment 73
4.4 Trajectory Tracking in Constrained Environment 73
5 Conclusions 74
Bibliography 74
Decoupled Parallel Manipulator with Universal Joints and Additional Constraints 75
1 Introduction 75
2 The kinematic chains with universal joints and additional constraints and 4-DOF mechanisms 76
3 The design of 6-DOF decoupled parallel mechanism 80
4 Conclusion 82
References 82
Positio: A 4R Serial Manipulator Having a Surface of Isotropic Positioning 83
1 Introduction 83
2 Kinematic Model 84
3 Isotropic Conditions and Associated Surface 86
3.1 Positioning Tasks 86
3.2 Orienting Tasks 87
3.3 Positioning and orienting Tasks 89
4 Conclusions 89
Bibliography 89
Joint space and workspace analysis of a two-DOF closed-chain manipulator 91
1 INTRODUCTION 91
2 ALGORITHM 92
2.1 Definition of the quadtree/ictree model 92
2.2 Notion of aspect for fully parallel manipulators 92
2.3 Introduction to ALIAS library 93
2.4 A first basicc tool: Box verification 93
2.5 A second basic tool: Quadtree model definition 94
3 MECHANISM UNDER STUDY 94
3.1 Kinematic Relations 94
3.2 Direct kinematic problem 95
3.3 Selection of the assembly mode 96
3.4 Inverse kinematic problem 97
3.5 Selection of the working mode 97
3.6 Computation of the generalized aspects 98
3.7 Comparison between classical quadtree computation and the new algorithm 98
4 CONCLUSIONS AND FUTURE WORKS 99
REFERENCES 100
Identification of Base Parameters for Large-scale Kinematic Chains Based on Polyhedral Convex Cones 101
1 Introduction 101
2 Identification methods developed for manipulators 102
3 Identification for legged systems comsidering physical consistency and computational stability 103
4 Experimental results 105
5 Conclusion 107
Bibliography 108
Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator 109
1 Introduction 109
2 Manipulator models 110
3 Simulations and discussion 113
4 Concluding remarks 115
References 116
Chatter Suppression in Sliding Moke Control: Strategies and Tuning Methods 118
1 Introduction 118
2 Chatter Suppression Strategies 119
2.1 Continuous Approximation Strategies 119
2.2 HIgher Order Sliding Model 120
3 Oerformance Estimation 121
3.1 Stability 121
3.2 Harmonic linearization 121
4 Example 123
5 Conclusion 124
References 125
On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm 126
1 Introduction 126
2 The Forward Kinematics Problem Formulation 127
3 Solving with genetic algorithms 129
3.1 Hybridization of genetic algorithms 129
3.2 G3-PCX genetic algorithm 130
4 Results and Analysis 130
4.1 Configuration for the FKP pf 6-6 general Parallel Manipula- tor 130
4.2 Experimental Set-up 130
4.3 Results 131
4.4 Discussion 132
5 Conclusion 132
Bibliography 133
Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix. 134
1 Introduction. 134
2 Representations of the Euclidean Group. 135
3 The Lie Product and the Adjoint Representation. 136
4 Serially Connected Kinematic Chains. 138
5 Conclusions. 141
Bibliography 141
Micro Hinges and their Application to Micro Robot Mechanisms 142
1. Introduction 142
2. Micro Motion Convert Mechanism made by FAB Machine 143
3. Palmtop Surface Mount System for Micro Devices by Use of a Pantograph Mechanism with Large-Deflective Hinges 145
4. Fatigue Tests of an Molding Pantograph Mechanism with Large Deflective Hinges 146
5. Experimental Method of the Fatigue Test of One Hinge Model 146
6. Conclusions 149
References 149
Parallel RPR- -RPR Manipulator Generating 2-DOF Translation along One-Sheet Revolute Hyperboloid 150
1. Introduction 150
2. Single-Closed Loop Chains with 2-DoFs 151
3. Parallel Manipulator Generating 2-DoF Translation along a Ruled Hyperboloid 154
4. Derivation of Delassus RPRP Paradoxical Chain 154
5. Conclusion 156
References 157
A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators 158
1 Introduction 158
2 Cable Modeling for Cable-Based Manipulators 159
2.1 Mass Less Inextensible Cable Model 159
2.2 Elastic Mass Less Cable Model 159
2.3 Continuous Cable Model with Mass and Elasticity 159
2.4 Lumped Mass and Elastic Cable Model 160
3 Case of Study: Planar 2 Cables Point-Mass Robot 161
3.1 Simulation Results 162
3.2 Experimental Characterization 163
Conclusions 165
Bibliography 165
Chapter II Service, Education, Medical, Space, Welfare and Rescue Robots 166
Motion Planning of the Trident Snake Robot: An Endogenous Configuration Space Approach 167
1 Introduction 167
2 Problem Formulation 168
3 Motion Planning 170
4 Computer Simulations 173
5 Conclusion 173
Bibliography 174
A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage -Mechanism Design and Kinematics- 175
1 Introduction 175
2 Design and Principle of Operation 176
3 Kinematics 178
4 Conclusions and Future Work 182
Bybliography 182
Motion and Force measures on tortoises to design and control a biomimetic quadruped robot 183
1 Introduction 183
2 Experiments on animals 184
2.1 Experiments in Vivo 184
2.2 Experiments in Vitro 186
3 TATOR II Model 187
4 Conclusion 190
Bibliography 190
Mechanism Design Improvements of the Airway Man-agementTraining System WKA-3 191
1 Introduction 191
2 Design of the WKA-3 192
2.1 Wire Drive Unit 193
2.2 Mandible 193
2.3 Tongue 194
3 Force and Position Control of the WKA-3 195
4 Experimental results 196
5 Conclusions & Future Work
Bibliography 198
Design for a Dual-Arm Space Robot 199
1 Introduction 199
2 Description of Robot System 200
3 Mechanism of Dual-Arm Space Robot 201
3.1 Mechanism of the Head 201
3.2 Mechanism of the Arm 202
3.3 Mechanism of the Hand 202
3.4 Design of High-Cohesion Integrative Joint 202
4 Vision-Based Climbing Plan 203
4.1 Vision Processing System 203
4.2 Climbing Trajectory Plan 204
4.3 Force Control of Hand 204
5 Experiment 205
6 Conclusion 205
Bbibliography 206
Mechanical Design of a Novel Biped Climbing and Walking Robot 207
1 Introduction 207
2 The 2 (3-RPS) Leg Mechanism 208
3 The 3-RPS Parallel Mechanism: Kinematic Synthesis 210
4 The 3-RPS Parallel Mechanism: Workspace Analysis 212
Conclusions 214
Bibliography 214
Chapter III Humanoid Robots, Bio-Robotics, Multi-Robot, Multi-Agent Systems 215
Development of the Anthropomorphic Waseda Saxophonist Robot 216
1 Introduction 216
2 Waseda Saxophonist Robot No.2 (WAS-2) 217
2.1 Mechanical System 218
2.2 Control System 220
2.3 Experiments and Results 221
2.4 Conclusion and Future Work 223
Bibliography 223
Design and Simulation of a Waist-Trunk System for a Humanoid Robot 224
1 Introduction 224
2 Human Torso and Proposed Waist-Trunk System 225
3 An Inverse Kinematics Studdy 226
4 Simulation results 227
5 Conclusions 231
Bibliography 231
Safe Navigation in Dynamic Environments 232
1 Introduction 232
2 The Velocity Obstacle 233
3 Time Horizon 235
4 The Planner 237
5 Examples 237
6 Conclusion 238
Bibliography 239
Development of a Visual Interface for Sound Parameter Calibration of the Waseda Flutist Robot WF-4RIV 240
1 Introduction 240
2 Waseda Flutist Robot No.4 Refined IV 241
3 Instrument Position Mapping 243
4 Experiments and Results 244
5 Conclusion and Future Works 246
Bibliography 247
Simulation of a Humanoid Robot walking gait on Moon Surface 248
1. Introduction 248
2. Walking Behavior on Moon Gravity 249
2.1. Human body modeling 250
2.2. Froude number 251
3. Control Method of the Robot 252
4. Simulation Result of Walking Motion 252
5. Conclusion & Future Work
References 254
Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure 256
1 Introduction 256
2 Development of Human-like Foot Mechanism 257
2.1. Modeling of Human’s Foot Arch Structure 257
2.2. Human-like Foot Mechanism Design 260
3 Experimental Tests and Consideration 261
3.1. Verification of Walking with Human-like Foot Mechanism 261
3.2. Consideration of Function of Foot Arch Structure 261
4 Conclusions and Future Work 262
Bibliography 263
Design and Development of Bio-mimetic Quadruped Robot 264
Introduction 264
Analysis of Rat’s Motion and Proportion 265
Hardware Design 267
Control of WR-2 268
Performance Verification 269
Summary and Future works 270
References 270
Static and Dynamic Maneuvers With a Tendon-Coupled Biped Robot 272
1 Introduction 272
1.1 Motivation 272
1.2 Prior Work 272
2 Design 273
2.1 Mechanical Design 273
2.2 Electrical Design 273
3 Control Results 273
3.1 Balancing 275
3.2 Stepping 275
3.3 Hopping 275
3.4 Running 276
4 Discussion 278
5 Conclusion 279
Bibliography 279
Chapter IV Control, Modelling, and Analysis of Robotic Systems 280
Kinematic Calibration of Small Robotic Work Spaces Using Fringe Projection 281
1 Introduction 281
2 Methods for the Modeling of the Kinematics 282
2.1 Conventional Modeling 282
2.2 Kinematic Modeling with respect to Polynomial Functions 283
3 Identification of the Kinematics 284
3.1 Calibration Functional 284
3.2 Experimental Setup 284
4 Determination of the Kinematics 286
5 Validation of the Determined Kinematic Functions 287
6 Conclusion 288
Bibliography 288
Forward Dynamics of 3-DOF Parallel Robots: a Comparison Among Different Models 289
1 Introduction 289
2 Forwar Dynamics in Terms of Identified Dynamic Parameters 290
2.1 Mass Matrix 291
2.2 Vector of Velocity components 292
2.3 Vector of Gravity ccomponents 292
3 Case Studies 292
4 Results 293
5 Conclusions 296
Bibliography 296
Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method 297
1 Introduction 297
2 Theory 298
3 Simulation 302
4 Conclusion 304
References 304
Trajectory Following and Vibration Control for Flexible-link Manipulators 305
1 Introduction 305
2 Model-based Predictive Control 306
3 Dynamic model 307
4 Control System 308
5 Simulation results: trajectory tracking 309
6 Conclusion 311
Bibliography 311
Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning 313
1 Introduction 313
2 Minimization of the Shaking Forces via an Optimal Motion Planning of the Total Mass Centre of Moving Links 314
3 Illustrative Example 316
4 Conclusions 319
References 320
Passivity Based Backstepping Control of an Elastic Robot 321
1 Overview 321
2 Mathematical Model 322
3 Controller Design 324
4 Experimental Results 326
5 Conclusion 328
Bibiography 328
Economical Control of Robot Systems Using Potential Energy 329
1 Introduction 329
2 Optimal Control of Robot Systems 330
3 Linear Analysis of Optimal Solution 330
3.1 Linearization of the Equations of Motion 330
3.2 Analysis Using Optimal Control Theory 331
3.3 Comparison with Simulation Results 332
4 Optimal Design Method 334
4.1 Optimal Operating Time 334
4.2 Optimal Design of Springs 334
4.3 Application Example 335
5 Conclusion 335
Bibliography 335
Motion Control of an Under-Actuated Service Robot Using Natural Coordinates 337
1 Introduction 337
2 Mechanical Model and Problem Formulation 338
3 Computed Torque Control 341
4 Real parameter case study and simulation 342
5 Conclusion 344
Bibliography 344
Control Law Synthesis for Slip Reduction of Wheeled Robot 345
1 Introduction 345
2 Slip Avoidance 345
3 Traction Force During the Slip 347
4 Slip Reduction 347
5 Conclusion 352
Bibliography 352
A Kinematic Model of the Tibio-Talar Joint Using a Minimum Energy Principle 353
1 Introduction 353
2 Materials and Methods 355
2.1 Data Acquisition 355
2.2 Bone Modeling 355
2.3 Trajectory Generation 355
3 A Measure of Joint Congruence 356
4 Result and Discussion 357
5 Algorithm Sensitivity 359
6 Conclusion 361
Bibliography 361
Chapter V Innovations in Sensor Systems for Robots and Perception 363
Development of the Ultrasound Probe Holding Robot WTA-1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback 364
1 Introduction 364
2 Development of the Probe Holding Robot WTA-1RII 365
3 Automated Scanning Method 366
3.1 Image processing 367
3.2 Probe Path Planning 368
4 Experiments and Results 369
4.1 Manipulator Positioning Accuracy 369
4.2 Automated Scanning 370
5 Conclusion and Future Work 371
Bibliography 371
RFID-Assisted Detection and Handling of Packages 372
1 Introduction 372
2 State of the art 373
3 Experimental Setup 373
4 RFID Localization 374
5 Package localization and handling 376
5.1 Selection of the Gripper 376
5.2 Handling Process 377
6 Conclusions 379
References 379
Virtual Haptic Map Using Haptic Disply Technology for Visually Impaired 380
1 Introduction 380
2 Virtual Haptic Map 381
3 EXPERIMENT 383
4 Mobile Robot System with Virtual Haptic Map 385
5 CONCLUSION 386
Bibliography 387
EXTRACTION OF SEMANTIC INFORMATION FROM THE 3D LASTER RANGE FINDER 388
1 Introduction 388
2 Data Acquisition 389
3 Texture-based object detection 389
4 Haar-like features 390
Conclusions 393
Bibliography 394
THE APPLICATION OF ICP AND SIFT ALGORITHMS FOR MOBILE ROBOT LOCALIZATION 396
1 Introduction 396
2 Hardware 397
3 SIFT-ICP Algorithm 399
3.1 SIFT Algorithm 399
3.2 ICP Algorithm 399
3.3 SIFT algorithm in ICP 400
4 Experiments 400
5 Conclusions 402
Bibliography 403
Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer 404
1 Introduction 404
2 Estimation of the Anatomical Joint Screw Axis 405
2.1 Approach Using the Velocities of Points 405
2.2 Approach by Loop Closure 406
3 Application to a Goniometer for The Knee Joint 408
3.1 System description 408
3.2 Simulation results 408
Conclusion 411
Bibliography 411
Chapter VI Recent Advances in Robotics 412
Modeling and Motion Planning for a Population of Mobile Robots 413
1 Introduction 413
2 Modeling for a Population of Mobile Robots 414
2.1 Basic Particle Swarm Optimization 414
2.2 Build Mechanical Model for Practical Use in a Population of Mobile Robots 414
3 Design a Control Scheme for a ROBOTINO 415
3.1 Constraint Handling 415
3.2 Control Scheme 416
4 Simulation and Results 417
5 Conclusion and Future Work 417
Bibliography 420
Reconfigurable Planar Three-Legged Parallel Manipulators 421
1 Introduction 421
2 The Forward And Inverse Kinematics Problem 422
3 Workspace Boundary Visualization 425
4 Example 425
5 Conclusions 428
Bibliography 428
Multi-Objective Trajectory Planning in Wire-Actuated Parallel Manipulators 429
1. Introduction 429
2. Modelling 430
3. Collision Detection 432
4. Trajectory Planning and Impact Reduction 433
5. Simulation 434
6. Discussion and Conclusions 436
References 436
Design of the Facial Expression Mechanism for Humanoid Robots 437
1 Introduction 437
2 Architecture of the Humanoid Robot Prototype 438
3 Robot Face Design 440
3.1 Design Methodology 440
3.2 Data Acquisition 440
3.3 Active Drive Points 441
4 Experiment Results 442
4.1 Robotic Face Testing 442
4.2 Testing the Mobility of the Humanoid Robot 442
5 Conclusion 444
Bibliography 444
A Method for Comparing Human Postures From Motion Capture Data 445
1 Introduction 445
2 Instrument and Data Format 446
3 Posture Comparison Method 447
3.1 Comparison of Frames 447
3.2 Plummet Method for Root-Fame Comparison 448
3.3 Total Score and Proportion 449
4 Experiments and Results 449
5 Conclusions and Future Works 451
Bibliography 452
Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People1 453
1. Introduction 453
2. Materials and Methods 454
A. Wheeled-type emotion expression humanoid robot HABIAN 454
B. Creation of the new emotional patterns 455
C. Human actor 455
3. Experimental evaluation 456
A. Evaluation of the Emotion Recognition Ratio 456
B. Evaluation of the robot impression 457
C. Free comments 459
4. Conclusions 459
References 460
An Approach to the Dynamics and Kinematical Control of Mtion Systems Consisting of a Chain of Bodies 461
1 Introduction 461
2 Equations of Motion 463
3 Smooth Control 464
4 Dry (Discontinuous) Friction 465
5 Conclustions 467
Bibliography 468
Modular Design of Emotion Expression Humanoid Robot KOBIAN 469
Introduction 469
Design 470
Discussion 475
Conclusion and Future Works 475
References 476
A Random-Profile Approach for Trajectory Planning of Wheeled Mobile Robots With non-Slipping Constraint 477
1. Introduction 477
2. Description of the problem 478
3. Proposed method 479
3.1. Overview of the basic RPA scheme 479
3.2. Treatment of the non-slipping constraint 480
4. Numerical example 481
5. Conclusion 484
6. References 484
The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom 485
Introduction 485
Geometry of the PM with 6 DOF 485
Singularity Analysis of the PM With 6 DOF 488
Conclusion 492
References 492
Author Index 493