Advanced Strategies for Robot Manipulators edited by Seyed Ehsan Shafiei SCIYO Advanced Strategies for Robot Manipulators Edited by Seyed Ehsan Shafiei Published by Sciyo Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2010 Sciyo All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited After this work has been published by Sciyo, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work Any republication, referencing or personal use of the work must explicitly identify the original source Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher No responsibility is accepted for the accuracy of information contained in the published articles The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book Publishing Process Manager Jelena Marusic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright higyou, 2010 Used under license from Shutterstock.com First published September 2010 Printed in India A free online edition of this book is available at www.sciyo.com Additional hard copies can be obtained from publication@sciyo.com Advanced Strategies for Robot Manipulators, Edited by Seyed Ehsan Shafiei p cm ISBN 978-953-307-099-5 SCIYO.COM WHERE KNOWLEDGE IS FREE free online editions of Sciyo Books, Journals and Videos can be found at www.sciyo.com Contents Preface IX Chapter The Comparative Assessment of Modelling and Control of Mechanical Manipulator M H Korayem, H N Rahimi and A Nikoobin Chapter Hyper Redundant Manipulators 27 Ivanescu Mircea and Cojocaru Dorian Chapter Micro-Manipulator for Neurosurgical Application M R Arshad and Ya’akob Yusof 61 Chapter DeLiA: A New Family of Redundant Robot Manipulators Jaime Gallardo–Alvarado 73 Chapter Dynamic Modelling, Tracking Control and Simulation Results of a Novel Underactuated Wheeled Manipulator (WAcrobot) Mohsen Moradi Dalvand and Bijan Shirinzadeh 91 Chapter Kinematics Synthesis of a New Generation of Rapid Linear Actuators for High Velocity Robotics with Improved Performance Based on Parallel Architecture 107 Luc Rolland Chapter Sliding Mode Control of Robot Manipulators via Intelligent Approaches 135 Seyed Ehsan Shafiei Chapter Supervision and Control Strategies of a DOF Parallel Manipulator Using a Mechatronic Approach 173 FJoão Mauricio Rosário, Didier Dumur, Mariana Moretti, Fabian Lara and Alvaro Uribe Chapter Collision Detection and Control of Parallel-Structured Flexible Manipulators Based on Unscented Kalman Filter 197 Yuichi Sawada, YusukeWatanabe and Junki Kondo Chapter 10 On Saturated PID Controllers for Industrial Robots: The PA10 Robot Arm as Case of Study 217 Jorge Orrante-Sakanassi, Víctor Santibáđez and Ricardo Campa VI Chapter 11 Real-Time-Position Prediction Algorithm for Under-actuated Robot Manipulator Using of Artificial Neural Network 249 Ahmad Azlan Mat Isa, Hayder M.A.A Al-Assadi and Ali T Hasan Chapter 12 On Nonlinear Control Perspectives of a Challenging Benchmark Guangyu Liu and Yanxin Zhang 261 Chapter 13 A Unified Approach to Robust Control of Flexible Mechanical Systems Using H∞ Control Powered by PD Control 273 Masayoshi Toda Chapter 14 An Improved Adaptive Kinematics Jacobian Trajectory Tracking of a Serial Robot Passing Through Singular Configurations 287 Ali T Hasan, Hayder M.A.A Al-Assadi and Ahmad Azlan Mat Isa Chapter 15 Development of Fuzzy-logic-based Self Tuning PI Controller for Servomotor Oyas Wahyunggoro and Nordin Saad 311 Chapter 16 Distributed Particle Filtering over Sensor Networks for Autonomous Navigation of UAVs 329 Gerasimos G Rigatos Chapter 17 Design and Control of a Compact Laparoscope Manipulator: A Biologically Inspired Approach 365 Atsushi Nishikawa, Kazuhiro Taniguchi, Mitsugu Sekimoto, Yasuo Yamada, Norikatsu Miyoshi, Shuji Takiguchi, Yuichiro Doki, Masaki Mori and Fumio Miyazaki Chapter 18 Open Software Architecture for Advanced Control of Robotic Manipulators 381 J Gomez Ortega, J Gamez García, L M Nieto Nieto and A Sánchez García Chapter 19 Structure and Property of the Singularity Loci of Gough-Stewart Manipulator 397 Y Cao, Y W Li and Z Huang Preface Robotic technology has grown beyond the boundaries of imagination during recent decades Nowadays, it’s not very surprising to see that a robot can hear, see and even talk and a servant robot is not a dream anymore But now we confront newer challenges such as nano-robots, surgical manipulators and even robots who can make decisions which are employed for underwater or space missions Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute humans in repetitive and/or hazardous tasks Modern manipulators have a complicated design and need to more precise, crucial and critical tasks So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints need to be established In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored This book consists of a set of materials that introduces various strategies related to robot manipulators Although the topics provided here are not in a rational order, they can be divided into three major subjects such as design and modelling, control strategies and applications of robot manipulators These subjects cover different approaches like dynamic modelling, redundant manipulators, micro-manipulator, parallel manipulator, nonlinear control, intelligent control and many other valuable matters that are addressed here by different authors through 19 chapters I gratefully acknowledge the contributions made by each of my coauthors They showed enthusiasm to contribute their knowledge that lead to creation of this book However, this is not a text book for academic education, the book is addressed to graduate students as well as researchers in the field and I am sure they can benefit from its multidisciplinary chapters Editor Seyed Ehsan Shafiei Shahrood University of Technology Iran 414 Advanced Strategies for Robot Manipulators y X' B3 PRPRP Y' C ψ P B1 B5 L3 L1 L2 α x W β V U Fig The singularity-equivalent-mechanism for general case x = -(3Rb sinψ − 2Rb tanα cosψ + 2w tanα + Rb cosψ - Rb tanβ cosψ + 3Rb tanβ sinψ -2u tanβ )/(2tanβ − 2tanα ) y = (-R b tan α sinψ − 3R b tan α cosψ + 3R b tan α tan β cosψ + 2u tan α tan β − 3R b tan α tan β sinψ -2R b tan β sinψ − 2w tan α tan β )/(2 tan β − tan α ) tanψ = w tanα -3u tanα tanβ − 3u tanβ tanβ (-2 w tanα + 3u tanα -3u) (54) (55) (56) where u indicates the distance from point U to V, and w the distance from V to W Substituting Eq (56) into Eqs (55) and (54), and eliminating ψ, the relations between (x, y) and the inputs α, β can be obtained This is direct kinematics of the equivalent mechanism 4.2.2.3 Singularity Equation in the θ- plane Under a general case, Euler angle φ can be any value with the exception of ±30°, ±90°, or ±150° From Eq (56) one obtains tan β = 3w tan α -2 3w tan α tanψ + 3u tan α tanψ -3u tanψ + 3u tan α + 3u (57) In the case of some specified ψ, there are the same three particular situations that is B1 and B5, B1 and B3, or B3 and B5 lie in the line UV, respectively The singularity loci are three pairs of intersecting straight lines In order to use the above-mentioned formulas, u and w in Eq (57) should be calculated in advance They depend on their relative positions in UV, as shown in Fig 10 The distance w between V and W is w = WV = Ra cos( β / 2) − 3xV cos φ (68) 415 Structure and Property of the Singularity Loci of Gough-Stewart Manipulator Y C A3 y φ O A5 φ A1 θ V γ x W X U Fig 10 The Intersecting Line UW of two planes The distance u between U and V is u = UV = 3x V ( + cot φ ) sin φ (59) The sign of w is positive when point W is on the right side of V, and it is negative when W is on the left side of V It is similar for the sign of u For a given xv, the singularity equation in θ-plane can be obtained by eliminating the parameter α bxy + cy + dx + ey + f = (60) The two invariants D, δ of Eq (60) are b/2 d/2 D = b/2 c d/2 e/2 e/2 = − ( b f + d c − bde ) f (61) and δ= b/2 = − b2 < b/2 c (62) Generally, D≠0 and δ