Introduction to Robotics: Mechanics and Controls

Höfundur: John J. Craig (Útgáfa: 4)
Introduction to Robotics: Mechanics and Controls

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This is the eBook of the printed book and may not include any media, website access codes, or print supplements that may come packaged with the bound book. For senior-year undergraduate and first-year graduate courses in robotics. An intuitive introduction to robotic theory and application Since its original publication in 1986, Craig’s Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level.

Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming. The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science.

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Útgefandi
Pearson Education (US)
ISBN
9780133489835
Print ISBN
9780133489798
Format
ePub
Útgáfa
4
Höfundar
John J. Craig
Tungumál
English
Útgefið
2017-03-03
Prent takmörkun á líftíma
100
Prent takmörkun
2
Afritunar takmörkun
2

Kaflar

  • Contents
  • Introduction to Robotics Mechanics and Control
  • Contents
  • Preface
  • Chapter 1 Introduction
  • 1.1 Background
  • 1.2 The Mechanics and Control of Mechanical Manipulators
  • Description of Position and Orientation
  • Forward Kinematics of Manipulators
  • Inverse Kinematics of Manipulators
  • Velocities, Static Forces, Singularities
  • Dynamics
  • Trajectory Generation
  • Manipulator Design and Sensors
  • Linear Position Control
  • Nonlinear Position Control
  • Force Control
  • Programming Robots
  • Off-Line Programming and Simulation
  • 1.3 Notation
  • Bibliography
  • General-Reference Books
  • General-Reference Journals and Magazines
  • Exercises
  • Programming Exercise (Part 1)
  • Matlab Exercise 1
  • Chapter 2 Spatial Descriptions and Transformations
  • 2.1 Introduction
  • 2.2 Descriptions: Positions, Orientations, and Frames
  • Description of a Position
  • Description of an Orientation
  • Description of a Frame
  • 2.3 Mappings: Changing Descriptions from Frame to Frame
  • Mappings Involving Translated Frames
  • Mappings Involving Rotated Frames
  • Mappings Involving General Frames
  • 2.4 Operators: Translations, Rotations, and Transformations
  • Translational Operators
  • Rotational Operators
  • Transformation Operators
  • 2.5 Summary of Interpretations
  • 2.6 Transformation Arithmetic
  • Compound Transformations
  • Inverting a Transform
  • 2.7 Transform Equations
  • 2.8 More on Representation of Orientation
  • X–Y–Z Fixed Angles
  • Z–Y–X Euler Angles
  • Z–Y–Z Euler Angles
  • Other Angle-Set Conventions
  • Equivalent Angle–Axis Representation
  • Euler Parameters
  • Taught and Predefined Orientations
  • 2.9 Transformation of Free Vectors
  • 2.10 Computational Considerations
  • Bibliography
  • Exercises
  • Programming Exercise (Part 2)
  • Matlab Exercise 2A
  • Matlab Exercise 2B
  • Chapter 3 Manipulator Kinematics
  • 3.1 Introduction
  • 3.2 Link Description
  • 3.3 Link-Connection Description
  • Intermediate Links in the Chain
  • First and Last Links in the Chain
  • Link Parameters
  • 3.4 Convention for Affixing Frames to Links
  • Intermediate Links in the Chain
  • First and Last Links in the Chain
  • Summary of the Link Parameters in Terms of the Link Frames
  • Summary of Link-Frame Attachment Procedure
  • 3.5 Manipulator Kinematics
  • Derivation of Link Transformations
  • Concatenating Link Transformations
  • 3.6 Actuator Space, Joint Space, and Cartesian Space
  • 3.7 Examples: Kinematics of Two Industrial Robots
  • The PUMA 560
  • The Yasukawa Motoman L-3
  • 3.8 Frames with Standard Names
  • The Base Frame, {B}
  • The Station Frame, {S}
  • The Wrist Frame, {W}
  • The Tool Frame, {T}
  • The Goal Frame, {G}
  • 3.9 Where is the Tool?
  • 3.10 Computational Considerations
  • Bibliography
  • Exercises
  • Programming Exercise (Part 3)
  • Matlab Exercise 3
  • Chapter 4 Inverse Manipulator Kinematics
  • 4.1 Introduction
  • 4.2 Solvability
  • Existence of Solutions
  • Multiple Solutions
  • Method of Solution
  • 4.3 The Notion of Manipulator Subspace When n<6
  • 4.4 Algebraic vs. Geometric
  • Algebraic Solution
  • Geometric Solution
  • 4.5 Algebraic Solution by Reduction to Polynomial
  • 4.6 Pieper’s Solution When Three Axes Intersect
  • 4.7 Examples of Inverse Manipulator Kinematics
  • The Unimation PUMA 560
  • The Yasukawa Motoman L-3
  • 4.8 The Standard Frames
  • 4.9 Solve-ing a Manipulator
  • 4.10 Repeatability and Accuracy
  • 4.11 Computational Considerations
  • Bibliography
  • Exercises
  • Programming Exercise (Part 4)
  • Matlab Exercise 4
  • Chapter 5 Jacobians: Velocities and Static Forces
  • 5.1 Introduction
  • 5.2 Notation for Time-Varying Position and Orientation
  • Differentiation of Position Vectors
  • The Angular Velocity Vector
  • 5.3 Linear and Rotational Velocity of Rigid Bodies
  • Linear Velocity
  • Rotational Velocity
  • Simultaneous Linear and Rotational Velocity
  • 5.4 More on Angular Velocity
  • A Property of the Derivative of an Orthonormal Matrix
  • Velocity of a Point Due to Rotating Reference Frame
  • Skew-Symmetric Matrices and the Vector Cross-Product
  • Gaining Physical Insight Concerning the Angular-Velocity Vector
  • Other Representations of Angular Velocity
  • 5.5 Motion of the Links of a Robot
  • 5.6 Velocity “Propagation” from Link to Link
  • 5.7 Jacobians
  • Changing a Jacobian’s Frame of Reference
  • 5.8 Singularities
  • 5.9 Static Forces in Manipulators
  • 5.10 Jacobians in the Force Domain
  • 5.11 Cartesian Transformation of Velocities and Static Forces
  • Bibliography
  • Exercises
  • Programming Exercise (Part 5)
  • Matlab Exercise 5
  • Chapter 6 Manipulator Dynamics
  • 6.1 Introduction
  • 6.2 Acceleration of a Rigid Body
  • Linear Acceleration
  • Angular Acceleration
  • 6.3 Mass Distribution
  • 6.4 Newton’s Equation, Euler’s Equation
  • Newton’s Equation
  • Euler’s Equation
  • 6.5 Iterative Newton Euler Dynamic Formulation
  • Outward Iterations to Compute Velocities and Accelerations
  • The Force and Torque Acting on a Link
  • Inward Iterations to Compute Forces and Torques
  • The Iterative Newton–Euler Dynamics Algorithm
  • Inclusion of Gravity Forces in the Dynamics Algorithm
  • 6.6 Iterative vs. Closed Form
  • 6.7 An Example of Closed-Form Dynamic Equations
  • 6.8 The Structure of a Manipulator’s Dynamic Equations
  • The State-Space Equation
  • The Configuration-Space Equation
  • 6.9 Lagrangian Formulation of Manipulator Dynamics
  • 6.10 Formulating Manipulator Dynamics in Cartesian Space
  • The Cartesian State-Space Equation
  • The Cartesian Configuration Space Torque Equation
  • 6.11 Inclusion of Nonrigid Body Effects
  • 6.12 Dynamic Simulation
  • 6.13 Computational Considerations
  • A Historical Note Concerning Efficiency
  • Efficiency of Closed Form vs. that of Iterative Form
  • Efficient Dynamics for Simulation
  • Memorization Schemes
  • Bibliography
  • Exercises
  • Programming Exercise (Part 6)
  • Matlab Exercise 6A
  • Matlab Exercise 6B
  • Matlab Exercise 6C
  • Chapter 7 Trajectory Generation
  • 7.1 Introduction
  • 7.2 General Considerations in Path Description and Generation
  • 7.3 Joint-Space Schemes
  • Cubic Polynomials
  • Cubic Polynomials for a Path with via Points
  • Higher-Order Polynomials
  • Linear Function with Parabolic Blends
  • Linear Function with Parabolic Blends for a Path with via Points
  • 7.4 Cartesian-Space Schemes
  • Cartesian Straight-Line Motion
  • 7.5 Geometric Problems with Cartesian Paths
  • Problems of Type 1: Intermediate Points Unreachable
  • Problems of Type 2: High Joint Rates Near Singularity
  • Problems of Type 3: Start and Goal Reachable in Different Solutions
  • 7.6 Path Generation at Run Time
  • Generation of Joint-Space Paths
  • Generation of Cartesian-Space Paths
  • 7.7 Description of Paths with a Robot Programming Language
  • 7.8 Planning Paths When Using the Dynamic Model
  • 7.9 Collision-Free Path Planning
  • Bibliography
  • Exercises
  • Programming Exercise (Part 7)
  • Matlab Exercise 7
  • Chapter 8 Manipulator-Mechanism Design
  • 8.1 Introduction
  • 8.2 Basing the Design on Task Requirements
  • Number of Degrees of Freedom
  • Workspace
  • Load Capacity
  • Speed
  • Repeatability and Accuracy
  • 8.3 Kinematic Configuration
  • Cartesian
  • Articulated
  • SCARA
  • Spherical
  • Cylindrical
  • Wrists
  • 8.4 Quantitative Measures of Workspace Attributes
  • Efficiency of Design in Terms of Generating Workspace
  • Designing Well-Conditioned Workspaces
  • 8.5 Redundant and Closed-Chain Structures
  • Micromanipulators and Other Redundancies
  • Closed-Loop Structures
  • 8.6 Actuation Schemes
  • Actuator Location
  • Reduction and Transmission Systems
  • 8.7 Stiffness and Deflections
  • Flexible Elements in Parallel and in Series
  • Shafts
  • Gears
  • Belts
  • Links
  • Actuators
  • 8.8 Position Sensing
  • 8.9 More on Optical Encoders
  • 8.10 Force Sensing
  • Force-Sensor Design Issues
  • Bibliography
  • Exercises
  • Programming Exercise (Part 8)
  • Matlab Exercise 8
  • Chapter 9 Linear Control of Manipulators
  • 9.1 Introduction
  • 9.2 Feedback and Closed-Loop Control
  • 9.3 Second-Order Linear Systems
  • Real and Unequal Roots
  • Complex Roots
  • Real and Equal Roots
  • 9.4 Control of Second-Order Systems
  • 9.5 Control-Law Partitioning
  • 9.6 Trajectory-Following Control
  • 9.7 Disturbance Rejection
  • Steady-State Error
  • Addition of an Integral Term
  • 9.8 Continuous vs. Discrete Time Control
  • 9.9 Modeling and Control of a Single Joint
  • Motor-Armature Inductance
  • Effective Inertia
  • Unmodeled Flexibility
  • Estimating Resonant Frequency
  • Control of a Single Joint
  • 9.10 Architecture of an Industrial-Robot Controller
  • Bibliography
  • Exercises
  • Programming Exercise (Part 9)
  • Matlab Exercise 9
  • Chapter 10 Nonlinear Control of Manipulators
  • 10.1 Introduction
  • 10.2 Nonlinear and Time-Varying Systems
  • 10.3 Multi-Input, Multi-Output Control Systems
  • 10.4 The Control Problem for Manipulators
  • 10.5 Practical Considerations
  • Time Required to Compute the Model
  • Feedforward Nonlinear Control
  • Dual-Rate Computed-Torque Implementation
  • Lack of Knowledge of Parameters
  • 10.6 Current Industrial-Robot Control Systems
  • Individual-Joint PID Control
  • Addition of Gravity Compensation
  • Various Approximations of Decoupling Control
  • 10.7 Lyapunov Stability Analysis
  • 10.8 Cartesian-Based Control Systems
  • Comparison with Joint-Based Schemes
  • Intuitive Schemes of Cartesian Control
  • Cartesian Decoupling Scheme
  • 10.9 Adaptive Control
  • Bibliography
  • Exercises
  • Programming Exercise (Part 10)
  • Chapter 11 Force Control of Manipulators
  • 11.1 Introduction
  • 11.2 Application of Industrial Robots to Assembly Tasks
  • 11.3 A Framework for Control in Partially Constrained Tasks
  • 11.4 The Hybrid Position/Force Control Problem
  • 11.5 Force Control of a Mass Spring System
  • 11.6 The Hybrid Position/Force Control Scheme
  • A Cartesian Manipulator Aligned with {C}
  • A General Manipulator
  • Adding Variable Stiffness
  • 11.7 Current Industrial-Robot Control Schemes
  • Passive Compliance
  • Compliance through Softening Position Gains
  • Force Sensing
  • Bibliography
  • Exercises
  • Programming Exercise (Part 11)
  • Chapter 12 Robot Programming Languages and Systems
  • 12.1 Introduction
  • 12.2 The Three Levels of Robot Programming
  • Teach by Showing
  • Explicit Robot Programming Languages
  • Task-Level Programming Languages
  • 12.3 A Sample Application
  • 12.4 Requirements of a Robot Programming Language
  • World Modeling
  • Motion Specification
  • Flow of Execution
  • Programming Environment
  • Sensor Integration
  • 12.5 Problems Peculiar to Robot Programming Languages
  • Internal World Model versus External Reality
  • Context Sensitivity
  • Error Recovery
  • Bibliography
  • Exercises
  • Programming Exercise (Part 12)
  • Chapter 13 Off-Line Programming Systems
  • 13.1 Introduction
  • 13.2 Central Issues in OLP Systems
  • User Interface
  • 3-D Modeling
  • Kinematic Emulation
  • Path-Planning Emulation
  • Dynamic Emulation
  • Multiprocess Simulation
  • Simulation of Sensors
  • Language Translation to Target System
  • Workcell Calibration
  • 13.3 The ‘Pilot’ Simulator
  • Physical Modeling and Interactive Systems
  • Geometric Algorithms for Part Tumbling
  • Stable-State Probabilities
  • Adjusting Probabilities as a Function of Drop Height
  • Simulation of Bounce
  • Simulation of Stacking and Tangling
  • Geometric Algorithms for Part Grasping
  • Computing Which Part to Grasp
  • Computation of Default Grasp Location
  • Computation of Alignment of the Part During Grasp
  • Geometric Algorithms for Part Pushing
  • Geometric Algorithms for Tray Conveyors
  • Connecting Tray Conveyors and Sources and Sinks
  • Pushing of Trays
  • Geometric Algorithms for Sensors
  • Proximity Sensors
  • 2-D Vision Systems
  • Inspector Sensors
  • Conclusion
  • 13.4 Automating Subtasks in OLP Systems
  • Automatic Robot Placement
  • Collision Avoidance and Path Optimization
  • Automatic Planning of Coordinated Motion
  • Force-Control Simulation
  • Automatic Scheduling
  • Automatic Assessment of Errors and Tolerances
  • Bibliography
  • Exercises
  • Programming Exercise (Part 13)
  • Appendix A Trigonometric Identities
  • Appendix B The 24 Angle-Set Conventions
  • Appendix C Some Inverse-Kinematic Formulas
  • Solutions to Selected Exercises
  • Chapter 2 Spatial Descriptions and Transformations Exercises
  • Chapter 3 Manipulator Kinematics Exercises
  • Chapter 5 Jacobians: Velocities and Static Forces Exercises
  • Chapter 6 Manipulator Dynamics Exercises
  • Chapter 7 Trajectory Generation Exercises
  • Chapter 10 Nonlinear Control of Manipulators Exercises
  • Chapter 11 Force Control of Manipulators Exercises
  • Index