ROBOTICS Appin Knowledge docx

ROBOTICS ROBOTICS Appin Knowledge Solutions ON 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 FRAME- WORK FOR RHINO ROBOT V. Gourishankar http://venkata83.com DEMOS ■ PUMA 3D ROBOT DEMO Don Riley, Walla Walla College ■ NEUROS ROBOT DEMO Institut für Neuroinformatik Ruhr-Universität Bochum APPLICATIONS ■ 3D CAD DATA TO MATLAB ® CONVERTER Don Riley, Walla Walla College FIGURES ■ Contains fi gures from the book including four-color fi gures E NGINEERING S ERIES ROBOTICS Appin Knowledge Solutions 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 classifi cations, 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). FEATURES ■ Discusses the major robot classifi cations including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator ■ Provides an introduction to basic mechanics and electronics; presents math- ematical 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 BRIEF TABLE OF CONTENTS 1. Introduction 2. Basic Mechanics 3. Basic Electronics 4. Wheeled Mobile Robots 5. Kinematics of Robotic Manipulators 6. Classifi cation of Sensors 7. Legged Robots. Appendix. Index. ABOUT THE AUTHOR Appin Knowledge Solutions is an affi liate 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. All trademarks and service marks are the property of their respective owners. Cover design: Tyler Creative INFINITY SCIENCE PRESS 11 Leavitt Street Hingham, MA 02043 (781) 740-4487 (781) 740-1677 FAX info@infi nitysciencepress.com www.infi nitysciencepress.com ISBN: 978-1-934015-02-5 U.S. $59.95 / Canada $70.95 APPIN KNOWLEDGE SOLUTIONS (from the 3-ROTATIONAL ARM ROBOT) (from the PUMA 3D ROBOT DEMO) (from the SIMPLE ROBOTICS FRAMEWORK FOR RHINO ROBOT) appin_robotics_adj.indd 1appin_robotics_adj.indd 1 6/15/07 12:43:11 PM6/15/07 12:43:11 PM ROBOTICS 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 any kind). By pur- chasing or using this book/CD-ROM package(the “Work”), you agree that this license grants permission to use the products contained herein, but does not give you the right of ownership to any of the textual content in the book or ownership to any of the infor- mation or products contained on the CD-ROM. Use of third party software contained herein is limited to and subject to licensing terms for the respective products, and permission must be obtained from the publisher or the owner of the software in order to reproduce or network any portion of the textual material or software (in any media) that is contained in the Work. Infinity Science Press LLC (“ISP” or “the Publisher”) and anyone involved in the creation, writing or production of the accompanying algorithms, code, or com- puter programs (“the software”) or any of the third party software contained on the CD-ROM or any of the textual material in the book, cannot and do not warrant the performance or results that might be 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. 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ROBOTICS 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, includ- ing, 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@infi nitysciencepress.com www.infi nitysciencepress.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) 1. Robotics–Handbooks, manuals, etc. 2. Robots, Industrial–Handbooks, manuals, etc. I. Appin Knowl- edge Solutions (Firm) TJ211.R555 2007 629.8’92 dc22 2007010554 7 8 9 4 3 2 1 Our titles are available for adoption, license, or bulk purchase by institutions, corporations, etc. For addi- tional 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. Appin Knowledge Solutions, with its Asia Pacifi c Headquarters in New Delhi, is an af- fi liate 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 So- lutions aims to bridge the gap between academia and industry by training people world- wide in fi elds such as nanotechnology and information security through Appin Technol- ogy 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. About the Authors About the Authors v 1. Introduction 1 1.1 Introduction to Robotics 1 1.2 History of Robotics 2 1.3 Current Research in Robotics Around the World 10 1.4 Classifi cation 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 Artifi cial Intelligence 20 1.4.8 Industrial Automation 22 1.5 An Overview of the Book 23 2. Basic Mechanics 25 2.1 Introduction to Theory of Machines and Mechanisms 25 2.2 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 2.3 Gear and Gear Trains 32 2.3.1 Spur Gears 33 2.3.2 Helical Gears 34 2.3.3 Bevel Gears 35 Table of Contents CONTENTS viii 2.3.4 Worm and Wheel 36 2.3.5 Parallel Axis Gear Trains 37 2.4 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 2.5 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 2.6 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 3. Basic Electronics 65 3.1 Introduction to Electronics 65 3.2 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 3.3 Steps to Design and Create a Project 89 3.4 Sensor Design 90 3.5 Using the Parallel Port of the Computer 102 3.6 Serial Communication: RS-232 117 3.7 Using the Microcontroller 124 3.8 Actuators 126 3.8.1 DC Motors 131 3.8.2 Controlling a DC Motor 133 CONTENTS ix 3.8.3 Pulse Width Modulation 140 3.8.4 Stepper Motors 141 3.8.5 Servo Motor 152 4. Wheeled Mobile Robots 155 4.1 Introduction 155 4.2 Classifi cation 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 4.3 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 4.4 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 4.5 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 4.6 The Identifi cation and Elimination of the Problem 191 4.7 Modifying the Model to Make the Variation in Delta Continuous 192 4.8 Developing the Software and Hardware Model of an All-purpose Research WMR 194 Interfacing the System with a Parallel Port 194 [...]... Appendix B About the CD-Rom 339 Index 341 Chapter 1 INTRODUCTION In This Chapter • • • • • 1.1 Introduction to Robotics History of Robotics Current Research in Robotics around the World Classification of Robotics An Overview of the Book INTRODUCTION TO ROBOTICS R ecently there has been a lot of discussion about futuristic wars between humans and robots, robots taking over the world... Manipulators .213 Position and Orientation of Objects in Space 214 5.2.1 Object Coordinate Frame: Position, Orientation, and Frames 214 5.2.2 Mapping between Translated Frames 215 5.2.3 Mapping between Rotated Frames 215 5.2.4 Mapping between Rotated and Translated Frames 218 5.2.5 Homogeneous Representation .219 Forward Kinematics 220 5.3.1 Notations and Description... Robots are the next level in evolution; rather we can call it robolution We will begin our journey with a brief history of robotics 1.2 HISTORY OF ROBOTICS Our fascination with robots began more than 100 years ago Looking back, it’s easy to get confused about what is and is not a robot Robotics history is tied to so many other technological advances that today seem so trivial we don’t even FIGURE 1.1 INTRODUCTION... team created a robot capable of climbing stairs, kicking a ball, pushing a cart, or tightening a screw 8 ROBOTICS FIGURE 1.10 Hazardous Duties As scientific knowledge grew so did the level of questioning And, as with space exploration, finding the answers could be dangerous In 1994 the CMU Field Robotics Center sent Dante II, a tethered walking robot to explore Mt Spurr in Alaska Dante II aids in the... completely enclosed for protection from the environment FIGURE 1.19 Gyrover I, a single-wheel robot that is stabilized and steered by means of an internal, mechanical gyroscope 16 ROBOTICS 1.4 CLASSIFICATION OF ROBOTICS As mentioned, robotics can be classified into the following: ■ ■ ■ ■ ■ ■ ■ 1.4.1 Robotic Manipulator Wheeled Mobile Robots (WMR) Legged Robots Underwater Robots and Flying Robots Robot Vision... various fields of robotics Some of the leading research organizations are MIT (Massachusetts Institute of Technology), JPL (Jet Propulsion Lab., NASA), CMU (Carnegie Mellon University), and Stanford University FIGURE 1.16 Laboratory M2, a 3D bipedal walking robot that is currently being developed in the MIT Leg INTRODUCTION 13 These and many other organizations are involved in various fields of robotics These... of a robot that is being developed at JPL Carnegie Mellon University is another center that is involved in active research of robotics There are several robots that are being researched FIGURE 1.18 Rover1 is a highly autonomous, programmable robot at CMU INTRODUCTION 15 at The Robotics Institute, CMU One of these robots is Rover 1 One of the goals in designing the rover was to create a robot that could... travel FIGURE 1.13 10 ROBOTICS FIGURE 1.14 short distances NASA went back to work In 2004, twin robot rovers caught the public’s imagination again, sending back amazing images in journeys of kilometers, not meters Entertaining Pets In the late ’90s there was a return to consumer-oriented robots The proliferation of the Internet also allowed a wider audience to get excited about robotics, controlling... design such as leg lengths and speed of travel, etc There is far more to learn about a cross-disciplinary field such as robotics than can be contained in this single book We hope that this will be enough to place the reader in a comfortable position in the dynamic and challenging field of robotics ... xi 6.9 6.10 6.11 6.12 6.13 6.14 6.5.3 Discussion on Triangulation Methods 258 6.5.4 Triangulation with More than Three Landmarks 259 Ultrasonic Transponder Trilateration 261 6.6.1 IS Robotics 2D Location System 261 6.6.2 Tulane University 3D Location System 262 Accelerometers 267 Gyroscopes 267 6.8.1 Space-stable Gyroscopes .268 6.8.2 Gyrocompasses . $70.95 APPIN KNOWLEDGE SOLUTIONS (from the 3-ROTATIONAL ARM ROBOT) (from the PUMA 3D ROBOT DEMO) (from the SIMPLE ROBOTICS FRAMEWORK FOR RHINO ROBOT) appin _robotics_ adj.indd 1appin _robotics_ adj.indd. Chapter • Introduction to Robotics • History of Robotics • Current Research in Robotics around the World • Classifi cation of Robotics • An Overview of the Book Chapter ROBOTICS 2 inside our bodies ROBOTICS ROBOTICS Appin Knowledge Solutions ON THE CD The CD-ROM includes figures, simulations, and other resources SIMULATIONS