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ROBOTIC SYSTEMS – APPLICATIONS, CONTROL AND PROGRAMMING Edited by Ashish Dutta Robotic Systems – Applications, Control and Programming Edited by Ashish Dutta Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2012 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. After this work has been published by InTech, 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. As for readers, this license allows users to download, copy and build upon published chapters even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. Notice 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 chapters. 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 Anja Filipovic Technical Editor Teodora Smiljanic Cover Designer InTech Design Team Image Copyright sarah5, 2011. DepositPhotos First published January, 2012 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Robotic Systems – Applications, Control and Programming, Edited by Ashish Dutta p. cm. ISBN 978-953-307-941-7 Contents Preface IX Part 1 Applications 1 Chapter 1 Modular Robotic Approach in Surgical Applications – Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery – 3 Kanako Harada, Ekawahyu Susilo, Takao Watanabe, Kazuya Kawamura, Masakatsu G. Fujie, Arianna Menciassi and Paolo Dario Chapter 2 Target Point Manipulation Inside a Deformable Object 19 Jadav Das and Nilanjan Sarkar Chapter 3 Novel Assistive Robot for Self-Feeding 43 Won-Kyung Song and Jongbae Kim Chapter 4 Robot Handling Fabrics Towards Sewing Using Computational Intelligence Methods 61 Zacharia Paraskevi Chapter 5 Robotic Systems for Radiation Therapy 85 Ivan Buzurovic, Tarun K. Podder and Yan Yu Chapter 6 Robotic Urological Surgery: State of the Art and Future Perspectives 107 Rachid Yakoubi, Shahab Hillyer and Georges-Pascal Haber Chapter 7 Reconfigurable Automation of Carton Packaging with Robotic Technology 125 Wei Yao and Jian S. Dai Chapter 8 Autonomous Anthropomorphic Robotic System with Low-Cost Colour Sensors to Monitor Plant Growth in a Laboratory 139 Gourab Sen Gupta, Mark Seelye, John Seelye and Donald Bailey VI Contents Part 2 Control and Modeling 159 Chapter 9 CPG Implementations for Robot Locomotion: Analysis and Design 161 Jose Hugo Barron-Zambrano and Cesar Torres-Huitzil Chapter 10 Tracking Control in an Upper Arm Exoskeleton with Differential Flatness 183 E. Y. Veslin, M. Dutra, J. Slama, O. Lengerke and M. J. M. Tavera Chapter 11 Real-Time Control in Robotic Systems 209 Alex Simpkins Chapter 12 Robot Learning from Demonstration Using Predictive Sequence Learning 235 Erik Billing, Thomas Hellström and Lars-Erik Janlert Chapter 13 Biarticular Actuation of Robotic Systems 251 Jan Babič Chapter 14 Optimization and Synthesis of a Robot Fish Motion 271 Janis Viba, Semjons Cifanskis and Vladimirs Jakushevich Chapter 15 Modeling of Elastic Robot Joints with Nonlinear Damping and Hysteresis 293 Michael Ruderman Chapter 16 Gravity-Independent Locomotion: Dynamics and Position-Based Control of Robots on Asteroid Surfaces 313 Marco Chacin and Edward Tunstel Chapter 17 Kinematic and Inverse Dynamic Analysis of a C5 Joint Parallel Robot 339 Georges Fried, Karim Djouani and Amir Fijany Chapter 18 Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives 361 A. Djuric and R. J. Urbanic Chapter 19 Requirement Oriented Reconfiguration of Parallel Robotic Systems 387 Jan Schmitt, David Inkermann, Carsten Stechert, Annika Raatz and Thomas Vietor Part 3 Vision and Sensors 411 Chapter 20 Real-Time Robotic Hand Control Using Hand Gestures 413 Jagdish Lal Raheja, Radhey Shyam, G. Arun Rajsekhar and P. Bhanu Prasad Contents VII Chapter 21 Robotics Arm Visual Servo: Estimation of Arm-Space Kinematics Relations with Epipolar Geometry 429 Ebrahim Mattar Chapter 22 Design and Construction of an Ultrasonic Sensor for the Material Identification in Robotic Agents 455 Juan José González España, Jovani Alberto Jiménez Builes and Jaime Alberto Guzmán Luna Part 4 Programming and Algorithms 471 Chapter 23 Robotic Software Systems: From Code-Driven to Model-Driven Software Development 473 Christian Schlegel, Andreas Steck and Alex Lotz Chapter 24 Using Ontologies for Configuring Architectures of Industrial Robotics in Logistic Processes 503 Matthias Burwinkel and Bernd Scholz-Reiter Chapter 25 Programming of Intelligent Service Robots with the Process Model “FRIEND::Process” and Configurable Task-Knowledge 529 Oliver Prenzel, Uwe Lange, Henning Kampe, Christian Martens and Axel Gräser Chapter 26 Performance Evaluation of Fault-Tolerant Controllers in Robotic Manipulators 553 Claudio Urrea, John Kern and Holman Ortiz Chapter 27 An Approach to Distributed Component-Based Software for Robotics 571 A. C. Domínguez-Brito, J. Cabrera-Gámez, J. D. Hernández-Sosa, J. Isern-González and E. Fernández-Perdomo Chapter 28 Sequential and Simultaneous Algorithms to Solve the Collision-Free Trajectory Planning Problem for Industrial Robots – Impact of Interpolation Functions and the Characteristics of the Actuators on Robot Performance 591 Francisco J. Rubio, Francisco J. Valero, Antonio J. Besa and Ana M. Pedrosa Chapter 29 Methodology for System Adaptation Based on Characteristic Patterns 611 Eva Volná, Michal Janošek, Václav Kocian, Martin Kotyrba and Zuzana Oplatková Preface Over the last few decades the focus of robotics research has moved beyond the traditional area of industrial applications to newer areas, including healthcare and domestic applications. These newer applications have given a strong impetus to the development of advanced sensors, control strategies and algorithms. The first section of this book contains advanced applications of robotics in surgery, rehabilitation, modular robotics among others. This is followed by sections on control and sensors, while the fourth section is devoted to robot algorithms. I would like to thank all the authors for entrusting us with their work and specially the editorial members of InTech publishing. Dr. Ashish Dutta Department of Mechanical Engineering Indian Institute of Technology, Kanpur India [...]... In the proposed system, 4 Robotic Systems – Applications, Control and Programming miniaturized robotic modules are ingested and assembled in the stomach cavity The assembled robot can then change its configuration according to the target location and task Modular surgical robots are interesting owing to their potential for application as selfreconfigurable modular robots and innovative surgical robots... Modular Robotic Approach in Surgical Applications – Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery – 7 3 Robotic modules 3.1 Design and prototyping of the robotic modules Figure 3 shows the design and prototypes of the Structural Module and the Biopsy Module (Harada, K 2009, Harada, K 2010) The Structural Module has two degrees of freedom (±90° of bending and 360°... to the identical configuration, the angle of each joint of the robotic modules can be easily determined, even if the topology has redundancy Fig 6 Robotic modules (top line) and the reconfigurable master device (bottom line): one module (left), assembled modules (middle) and prototypes (right) 12 Robotic Systems – Applications, Control and Programming The advantages of the proposed master device include... then tested Topology II and finally Topology III The time needed to touch the bar and maintain it for three seconds was measured This procedure was repeated ten times for each topology with a randomized position of the bar During the procedure, the bar appeared at random; however, it always appeared in the shared workspace to ensure 14 Robotic Systems – Applications, Control and Programming that the arm... 3 1 1 1.6 Table 1 Experimental results 16 Robotic Systems – Applications, Control and Programming Mental Demand 15 Frustration 10 5 Physical Demand Topology I Topology II 0 Topology III Temporal Demand Effort Performance Fig 10 NASA TLX parameters for three topologies 5 Conclusion A modular robot was proposed for endoluminal surgery The design, prototyping and evaluation of the modules were reported... i ≥ 0 , i = 1, 2, 3 0 ≤ θ i ≤ 360 , i = 1, 2, 3 (6) 26 Robotic Systems – Applications, Control and Programming Once we get the optimal contact locations, all three robotic fingers can be located at their respective positions to effect the desired motion at those contact points 6 Design of the controller In this section, a control law for the robotic fingers is developed to guide a target from any... Magnetics, 39(5), pp 323 2–3 4 Susilo, E.; Valdastri, P., Menciassi, A & Dario, P (2009) A miniaturized wireless control platform for robotic capsular endoscopy using advanced pseudokernel approach In: Sensors and Actuators A, 156(1), pp.49-58 18 Robotic Systems – Applications, Control and Programming World Health Organisation, “Fact sheet n.297,” Available from: http://www.who.int/ mediacen-ter/factsheets/... situations, the ability of a robotic system to control the target of the deformable object becomes important, which is the focus of this chapter To control the position of the internal target point inside a deformable object requires appropriate contact locations on the surface of the object Therefore, we address the issue of 20 Robotic Systems – Applications, Control and Programming determining the... dual theorem of nonlinear programming Saut et al [34] 22 Robotic Systems – Applications, Control and Programming presented a method for solving the grasping force optimization problem of multi-fingered dexterous hand by minimizing a cost function All these works are based on grasp of rigid objects There are also a few works based on deformable object grasping Like Gopalakrishnan and Goldberg [35] proposed... precision and generated torque, which are very important for reconfiguration and surgical tasks, was sufficient; however, the precision was limited owing 10 Robotic Systems – Applications, Control and Programming to the aforementioned fabrication problems The thin walls of the casing made of acrylic plastic were easily deformed, which caused friction between the parts The casing made of metal or PEEK and . ROBOTIC SYSTEMS – APPLICATIONS, CONTROL AND PROGRAMMING Edited by Ashish Dutta Robotic Systems – Applications, Control and Programming Edited by. precision and generated torque, which are very important for reconfiguration and surgical tasks, was sufficient; however, the precision was limited owing Robotic Systems – Applications, Control and. Annika Raatz and Thomas Vietor Part 3 Vision and Sensors 411 Chapter 20 Real-Time Robotic Hand Control Using Hand Gestures 413 Jagdish Lal Raheja, Radhey Shyam, G. Arun Rajsekhar and P. Bhanu