ROBOTICS Appin Knowledge 12/2012 pdf

ROBOTICS O N THE CD The CD-ROM includes figures, simulations, and other resources SIMULATIONS / TUTORIALS ■ KINEMATICS SIMULATIONS & TUTORIALS John A MacKinnon, Ph.D http://www.colba.net/~htran/physics ■ NONHOLONOMIC-WHEEL MOBILE ROBOT (WMR) Tao Gan 3-ROTATIONAL ARM ROBOT Jason Damazo, Walla Walla College ■ SIMPLE ROBOTICS FRAMEWORK FOR RHINO ROBOT V Gourishankar http://venkata83.com DEMOS ■ NEUROS ROBOT DEMO Institut für Neuroinformatik Ruhr-Universität Bochum APPLICATIONS ■ FEATURES ■ ■ ■ ■ Discusses the major robot classifications including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator Provides an introduction to basic mechanics and electronics; presents mathematical modeling concepts; and performs robotic simulations using MATLAB Includes extensive coverage of kinematics—integrated throughout the book whenever appropriate Includes a CD-ROM with demos, MATLAB simulations, photos, and more PUMA 3D ROBOT DEMO Don Riley, Walla Walla College ■ This up-to-date text/reference is designed to present the fundamental principles of robotics with a strong emphasis on engineering applications and industrial solutions based on robotic technology It can be used by practicing engineers and scientists—or as a text in standard university courses in robotics The book has extensive coverage of the major robotic classifications, including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator A central theme is the importance of kinematics to robotic principles The book is accompanied by a CD-ROM with MATLAB® simulations, photographs, tutorials, and third-party software (see On the CD-ROM section) 3D CAD DATA TO MATLAB® CONVERTER BRIEF TABLE OF CONTENTS Introduction Basic Mechanics Basic Electronics Wheeled Mobile Robots Kinematics of Robotic Manipulators Classification of Sensors Legged Robots Appendix Index ABOUT THE AUTHOR Appin Knowledge Solutions is an affiliate of the Appin Group of Companies (based in Austin, Texas) and develops software and training products in areas such as information security, nanotechnology, and robotics Don Riley, Walla Walla College FIGURES ■ Contains figures from the book including four-color figures (from the 3-ROTATIONAL ARM ROBOT) ISBN: 978-1-934015-02-5 U.S $59.95 / Canada $70.95 (from the PUMA 3D ROBOT DEMO) ROBOTICS Appin Knowledge Solutions (from the SIMPLE ROBOTICS FRAMEWORK FOR RHINO ROBOT) INFINITY SCIENCE PRESS 11 Leavitt Street Hingham, MA 02043 (781) 740-4487 (781) 740-1677 FAX info@infinitysciencepress.com www.infinitysciencepress.com All trademarks and service marks are the property of their respective owners Cover design: Tyler Creative appin_robotics_adj.indd ROBOTICS ■ Appin Knowledge Solutions APPIN KNOWLEDGE SOLUTIONS E N G I N E E R I N G S E R I E S 6/15/07 12:43:11 PM ROBOTICS License, Disclaimer of Liability, and Limited Warranty The CD-ROM that accompanies this book may only be used on a single PC This license does not permit its use on the Internet or on a network (of 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obtained by using the software or contents of the book The authors, developers, and the publisher have used their best efforts to insure the accuracy and functionality of the textual material and programs contained in this package; we, however, make no warranty of any kind, express or implied, regarding the performance of these contents or programs The Work is sold “as is” without warranty (except for defective materials used in manufacturing the disc or due to faulty workmanship); The authors, developers, and the publisher of any third party software, and anyone involved in the composition, production, and manufacturing of this work will not be liable for damages of any kind arising out of the use of (or the inability to use) the algorithms, source code, computer programs, or textual material contained in this publication This includes, but is not limited to, loss of revenue or profit, or other incidental, physical, or consequential damages arising out of the use of this Work The sole remedy in the event of a claim of any kind is expressly limited to replacement of the book and/or the CD-ROM, and only at the discretion of the Publisher The use of “implied warranty” and certain “exclusions” vary from state to state, and might not apply to the purchaser of this product ROBOTICS APPIN KNOWLEDGE SOLUTIONS INFINITY SCIENCE PRESS LLC Hingham, Massachusetts New Delhi Revision & Reprint Copyright 2007 by Infinity Science Press LLC All rights reserved Original Copyright 2007 by BPB Publications Pvt Ltd All rights reserved This publication, portions of it, or any accompanying software may not be reproduced in any way, stored in a retrieval system of any type, or transmitted by any means or media, electronic or mechanical, including, but not limited to, photocopy, recording, Internet postings or scanning, without prior permission in writing from the publisher Infinity Science Press LLC 11 Leavitt Street Hingham, MA 02043 Tel 877-266-5796 (toll free) Fax 781-740-1677 info@infinitysciencepress.com www.infinitysciencepress.com This book is printed on acid-free paper Appin Knowledge Solutions Robotics ISBN: 978-1-934015-02-5 The publisher recognizes and respects all marks used by companies, manufacturers, and developers as a means to distinguish their products All brand names and product names mentioned in this book are trademarks or service marks of their respective companies Any omission or misuse (of any kind) of service marks or trademarks, etc is not an attempt to infringe on the property of others Library of Congress Cataloging-in-Publication Data Robotics / Appin Knowledge Solutions p cm Includes index ISBN 978-1-934015-02-5 (hardcover with cd-rom : alk paper) Robotics–Handbooks, manuals, etc Robots, Industrial–Handbooks, manuals, etc I Appin Knowledge Solutions (Firm) TJ211.R555 2007 629.8’92 dc22 2007010554 7894321 Our titles are available for adoption, license, or bulk purchase by institutions, corporations, etc For additional information, please contact the Customer Service Dept at 877-266-5796 (toll free) Requests for replacement of a defective CD-ROM must be accompanied by the original disc, your mailing address, telephone number, date of purchase and purchase price Please state the nature of the problem, and send the information to Infinity Science Press, 11 Leavitt Street, Hingham, MA 02043 The sole obligation of Infinity Science Press to the purchaser is to replace the disc, based on defective materials or faulty workmanship, but not based on the operation or functionality of the product About the Authors Appin Knowledge Solutions, with its Asia Pacific Headquarters in New Delhi, is an affiliate of the Appin Group of Companies based in Austin, Texas Its many businesses span software development, consulting, corporate training programs, and empowerment seminars & products Appin Knowledge Solutions is comprised of prominent industry professionals, many from the University of Texas, Austin and the Indian Institute of Technology, Delhi The company has extensive experience working with Fortune 500 companies including Microsoft, AT&T, General Electric, & IBM Appin Knowledge Solutions aims to bridge the gap between academia and industry by training people worldwide in fields such as nanotechnology and information security through Appin Technology Labs and its distance learning programs This book has been co-authored by the technical team at Appin Knowledge Solutions The group is headed by Rajat Khare and includes the following technology professionals: Ashok Sapra, Ishan Gupta, Vipin Kumar, Anuj Khare, Tarun Wig, and Monika Chawla Table of Contents About the Authors v Introduction 1.1 1.2 1.3 1.4 1.5 Introduction to Robotics History of Robotics Current Research in Robotics Around the World .10 Classification of Robotics 16 1.4.1 Robotic Arms 16 1.4.2 Wheeled Mobile Robots 16 1.4.3 Legged Robots 17 1.4.4 Underwater Robots 18 1.4.5 Flying Robots 19 1.4.6 Robot Vision 19 1.4.7 Artificial Intelligence 20 1.4.8 Industrial Automation .22 An Overview of the Book 23 Basic Mechanics 25 2.1 2.2 Introduction to Theory of Machines and Mechanisms .25 Some Popular Mechanisms 26 2.2.1 Four-bar Mechanism 26 2.2.2 Slider-crank Mechanism 28 2.2.3 Rack and Pinion 30 2.2.4 Cams and Cranks 32 Gear and Gear Trains 32 2.3.1 Spur Gears .33 2.3.2 Helical Gears 34 2.3.3 Bevel Gears .35 2.3 viii 2.4 2.5 2.6 CONTENTS 2.3.4 Worm and Wheel .36 2.3.5 Parallel Axis Gear Trains 37 Synthesis of Mechanisms .39 2.4.1 Type, Number, and Dimensional Synthesis .39 2.4.2 Function Generation, Path Generation, and Motion Generation 40 2.4.3 Two-position Synthesis .41 2.4.4 Three-position Synthesis 44 Kinematic Analysis of Mechanisms 48 2.5.1 Graphical Position Analysis Method 48 2.5.2 Algebraic Position Analysis of Linkages 50 2.5.3 Complex Algebra Method for Position Analysis 52 A Practical Guide to Use Various Mechanisms 54 2.6.1 Most Commonly Used Mechanisms in Projects 54 2.6.2 Use of Different Kinds of Gears and Their Advantages 61 2.6.3 Measuring the Torque of a Motor 62 Basic Electronics 65 3.1 3.2 Introduction to Electronics 65 Some Basic Elements 66 3.2.1 Resistors 67 3.2.2 Capacitors 69 3.2.3 Breadboard 70 3.2.4 Potentiometer 72 3.2.5 Diodes .73 3.2.6 LEDs 81 3.2.7 Transistors 82 3.2.8 Integrated Circuits 85 3.2.9 Some Lab Components 86 Steps to Design and Create a Project 89 Sensor Design .90 Using the Parallel Port of the Computer 102 Serial Communication: RS-232 117 Using the Microcontroller 124 Actuators .126 3.8.1 DC Motors .131 3.8.2 Controlling a DC Motor 133 3.3 3.4 3.5 3.6 3.7 3.8 CONTENTS 3.8.3 3.8.4 3.8.5 ix Pulse Width Modulation 140 Stepper Motors 141 Servo Motor 152 Wheeled Mobile Robots 155 4.1 4.2 Introduction .155 Classification of Wheeled Mobile Robots (WMRs) 156 4.2.1 Differentially Driven WMRs 156 4.2.2 Car-type WMRs 157 4.2.3 Omnidirectional WMRs 158 4.2.4 Synchro Drive WMRs 159 Kinematics and Mathematical Modeling of WMRs 161 4.3.1 What is Mathematical Modeling? 161 4.3.2 Kinematic Constraints 163 4.3.3 Holonomic Constraints 165 4.3.4 Nonholonomic Constraints 165 4.3.5 Equivalent Robot Models .167 4.3.6 Unicycle Kinematic Model 169 4.3.7 Global Coordinate Kinematic Model of the Unicycle 171 4.3.8 Global Coordinate Kinematic Model of a Car-type WMR 172 4.3.9 Path Coordinate Model 173 Control of WMRs 175 4.4.1 What is Control? .175 4.4.2 Trajectory Following .176 4.4.3 The Control Strategy 179 4.4.4 Feedback Control 179 Simulation of WMRs Using Matlab 181 4.5.1 Testing the Control Strategy for a Unicycle-type Mobile Robot 182 4.5.2 Testing the Control Strategy for a Car-type Mobile Robot 186 4.5.3 Testing the Control Strategy Trajectory Following 190 Problem in a Car-type Mobile Robot The Identification and Elimination of the Problem 191 Modifying the Model to Make the Variation in Delta Continuous 192 Developing the Software and Hardware Model of an All-purpose Research WMR .194 Interfacing the System with a Parallel Port .194 4.3 4.4 4.5 4.6 4.7 4.8 APPENDIX A: TURTLE.CPP 331 delay(steering_delay); delta_a_inc_cur-=step_angle; } } } void moveVehicle(float _delta, float _v, float _t, float _distance) { int dir; float x,y; // x & y increments in LCS per interval interval_count++; int p=0; write(“\n—Interval “);write(interval_count);write(“ Step Log—”); if(_v>=0) dir=0; else dir=1; if(_t==-1) _t=_distance/_v; setSteering(_delta); q3+=delta_p; delta_a=0; //Calculating v_a, v_Rl_a & v_Rr_a v_Rl=_v*(1-(b/l)*tan(delta_a)); v_Rl_a=(round((v_Rl*_t)/step_distance)*step_distance)/_t; v_Rr_a=v_Rl_a*(1+(b/l)*tan(delta_a))/(1-(b/l)*tan(delta_a)); v_a=v_Rl_a/(1-(b/l)*tan(delta_a)); write(“\nv_a=”);write(v_a);write(“, v_Rl_a=”);write(v_Rl_a);write(“, v_Rr_a=”);write(v_Rr_a); //——— displayPar(delta_a,v_a); displayPosition(q1,q2,q3); //Calculating intermediate positions float t_int=_t/100; float x_int,y_int; q1_int[0]=q1;q2_int[0]=q2;q3_int[0]=q3; for(p=0;pdelta_a_min) { x_int=(l/tan(delta_a))*sin((v_a/l)*tan(delta_a)*t_int); y_int=(l/tan(delta_a))*(1-cos((v_a/ l)*tan(delta_a)*t_int)); q1_int[p+1]=q1_int[p]+(x_int*cos(q3_int[p])y_int*sin(q3_int[p])); q2_int[p+1]=q2_int[p]+(x_int*sin(q3_int[p])+ y_int*cos(q3_int[p])); q3_int[p+1]=q3_int[p]+((v_a/l)*tan(delta_a)*t_int); //not required } else { x_int=v_a*t_int; y_int=0; q1_int[p+1]=q1_int[p]+(x_int*cos(q3_int[p])y_int*sin(q3_int[p])); q2_int[p+1]=q2_int[p]+(x_int*sin(q3_int[p])+ y_int*cos(q3_int[p])); q3_int[p+1]=q3_int[p]+0; //not required } } /*for(int r=0;rdelta_a_min) { x=(l/tan(delta_a))*sin((v_a/l)*tan(delta_a)*_t); y=(l/tan(delta_a))*(1-cos((v_a/l)*tan(delta_a)*_t)); q1+=x*cos(q3)-y*sin(q3); q2+=x*sin(q3)+y*cos(q3); q3+=((v_a/l)*tan(delta_a)*_t); } APPENDIX A: TURTLE.CPP 333 else { x=v_a*_t; y=0; q1+=x*cos(q3)-y*sin(q3); q2+=x*sin(q3)+y*cos(q3); q3+=0; } write(“\nGlobal co-ordinates of vehicle CoG: [“); write(q1,4);write(q2,4);write(“,”);write(q3,4);write(“]”); //——— //Calculating step timing array if((((fabs(v_Rl_a)*_t)/step_distance)