a journey from robot to digital human

Modeling and Optimization in Science and Technologies A Journey from Robot to Digital Human Edward Y.L. Gu Mathematical Principles and Applications with MATLAB Programming www.it-ebooks.info Modeling and Optimization in Science and Technologies Vo l u m e 1 Series Editors Srikanta Patnaik (Editor-in-Chief) SOA University, Orissa, India Ishwar K. Sethi Oakland University, Rochester, USA Xiaolong Li Indiana State University, Terre Haute, USA Editorial Board Li Cheng, Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong Jeng-Haur Horng, Department of Power Mechnical Engineering, National Formosa University, Yulin, Taiwan Pedro U. Lima, Institute for Systems and Robotics, Lisbon, Portugal Mun-Kew Leong, Institute of Systems Science, National University of Singapore Muhammad Nur, Faculty of Sciences and Mathematics, Diponegoro Unersity, Semarang, Indonesia Kay Chen Tan, Department of Electrical and Computer Engineering, National University of Singapore, Singapore Yeon-Mo Yang, Department of Electronic Engineering, Kumoh National Institute of Technology, Gumi, South Korea Liangchi Zhang, School of Mechanical and Manufacturing Engineering, The University of New South Wales, Australia Baojiang Zhong, School of Computer Science and Technology, Soochow University, Suzhou, China Ahmed Zobaa, School of Engineering and Design, Brunel University, Uxbridge, Middlesex, UK For further volumes: http://www.springer.com/series/10577 www.it-ebooks.info About This Series The book series Modeling and Optimization in Science and Technologies (MOST) publishes basic principles as well as novel theories and methods in the fast-evolving field of modeling and optimization. Topics of interest include, but are not limited to: methods for analysis, design and control of complex systems, networks and ma- chines; methods for analysis, visualization and managementof large data sets; use of supercomputers for modeling complex systems; digital signal processing; molecular modeling; and tools and software solutions for different scientific and technologi- cal purposes. Special emphasis is given to publications discussing novel theories and practical solutions that, by overcoming the limitations of traditional methods, may successfully address modern scientific challenges, thus promoting scientific and technological progress. The series publishes monographs, contributed volumes and conference proceedings, as well as advanced textbooks. The main targets of the series are graduate students, researchers and professionals working at the forefront of their fields. www.it-ebooks.info Edward Y.L. Gu A Journey from Robot to Digital Human Mathematical Principles and Applications with MATLAB Programming ABC www.it-ebooks.info Edward Y.L. Gu Dept. of Electrical and Computer Engineering Oakland University Rochester, Michigan USA ISSN 2196-7326 ISSN 2196-7334 (electronic) ISBN 978-3-642-39046-3 ISBN 978-3-642-39047-0 (eBook) DOI 10.1007/978-3-642-39047-0 Springer Heidelberg New York Dordrecht London Library of Congress Control Number: 2013942012 c  Springer-Verlag Berlin Heidelberg 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of pub- lication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) www.it-ebooks.info To my family Sabrina, Heather and Jacob www.it-ebooks.info Preface This book is intended to be a robotics textbook with an extension to digital human modeling and MATLAB TM programming for both senior undergrad- uate and graduate engineering students. It can also be a research book for researchers, scientists, and engineers to learn and review the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation. In the past decade, I wrote and annually updated two lecture notes: Robotic Kinematics, Dynamics and Control, and Modern Theories of Nonlinear Systems and Control. Those lecture notes were success- fully adopted by myself as the official textbooks for my dual-level robotics course and graduate-level nonlinear control systems course in the School of Engineering and Computer Science, Oakland University. Now, the major sub- jects of those two lecture notes are systematically mixed together and further extended by adding more topics, theories and applications, as well as more examples and MATLAB TM programs to form the first part of the book. I had also been invited and worked for the Advance Manufacturing Engi- neering (AME) of Chrysler Corporation as a summer professor intern for the past 12 consecutive summers during the 2000’s. The opportunity of working with the automotive industry brought to me tremendous real-world knowl- edge and experience that was almost impossible to acquire from the class- room. In more than ten years of the internship program and consulting work, I was personally involved in their virtual assembly and product design inno- vation and development, and soon became an expert in major simulation soft- ware tools, from IGRIP robotic models, the early product of Deneb Robotics (now Dassault/Delmia) to the Safework mannequins in CATIA. Because of this unique opportunity, I have already been on my real journey from robot to digital human. Therefore, it has been my long-term intention to merge both the robot analysis and digital human modeling into one single book in order to share my enjoyable journey with the readers. On the other hand, it is, indeed, not an easy job to integrate these two rapidly and dynamically growing research www.it-ebooks.info VIII Preface areas together, even though the latter often borrows the modeling theories and motion generation algorithms from the former. Almost every chapter in the book has a section of exercise problems and/or computer projects, which will be beneficial for students to reinforce their understanding of every concept and algorithm. It is the instructor’s discretion to select sections and chapters to be covered in a single-semester robotics course. In addition, I highly recommend that the instructor teach students to write a program and draw a robot or a mannequin in MATLAB TM with realistic motion by following the basic approaches and illustrations from the book. I hereby acknowledge my indebtedness to the people who helped me with different aspects of collecting knowledge, experience, data and programming skills towards the book completion. First, I wish to express my grateful appre- ciations to Dr. Leo Oriet who was the former senior manager when I worked for the AME of Chrysler Corporation, and Yu Teng who was/is a manager and leader of the virtual assembly and product design group in the AME of Chrysler. They both not only provided me with a unique opportunity to work on the digital robotic systems and human modeling for their ergonomics and product design verification and validation in the past, but also gave me ev- ery support and encouragement in recent years. I also wish to thank Michael Hicks who is an engineer working for General Dynamics Land Systems, and Ashley Liening who is a graduate student majoring in English at Oakland University for helping me polish my writing. Furthermore, the author is under obligation to Fanuc Robotics, Inc., Robotics Research Corporation, and Aldebaran Robotics, Paris, France for their courtesies and permissions to include their photographs into the book. Edward Y.L. Gu, Rochester, Michigan guy@oakland.edu April, 2013 www.it-ebooks.info Contents List of Figures XIII 1 Introduction to Robotics and Digital Human Modeling 1 1.1 Robotics Evolution: The Past, Today and Tomorrow . . . . . . 1 1.2 Digital Human Modeling: History, Achievements and New Challenges 7 1.3 A Journey from Robot Analysis to Digital Human Modeling 10 References 12 2 Mathematical Preliminaries 15 2.1 Vectors,Transformationsand Spaces 15 2.2 LieGroupandLieAlgebra 20 2.3 The Exponential Mapping and k–φ Procedure 23 2.4 The Dual Number, Dual Vector and Their Algebras . . . . . . . 29 2.4.1 Calculusofthe DualRing 32 2.4.2 DualVectorandDualMatrix 35 2.4.3 Unit Screw and Special Orthogonal Dual Matrix . . . 38 2.5 IntroductiontoExteriorAlgebra 40 2.6 ExercisesoftheChapter 44 References 47 3 Representations of RigidMotion 49 3.1 TranslationandRotation 49 3.2 LinearVelocityversusAngularVelocity 58 3.3 Unified Representations between Position andOrientation 63 3.4 Tangent Space and Jacobian Transformations . . . . . . . . . . . . 72 3.5 ExercisesoftheChapter 77 References 80 4 Robotic Kinematics and Statics 83 4.1 TheDenavit-Hartenberg(D-H) Convention 83 4.2 Homogeneous Transformations for Rigid Motion . . . . . . . . . . 87 www.it-ebooks.info X Contents 4.3 SolutionsofInverseKinematics 93 4.4 JacobianMatrixandDifferentialMotion 102 4.5 Dual-NumberTransformations 109 4.6 RoboticStatics 115 4.7 Computer Projects and ExercisesoftheChapter 125 4.7.1 Stanford Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . 125 4.7.2 The Industrial Robot Model and Its Motions . . . . . . 128 4.7.3 ExerciseProblems 129 References 134 5 Redundant Robots and Hybrid-Chain Robotic Systems 135 5.1 TheGeneralizedInverseofaMatrix 135 5.2 Redundant Robotic Manipulators. . . . . . . . . . . . . . . . . . . . . . . 137 5.3 Hybrid-ChainRoboticSystems 156 5.4 Kinematic Modeling for Parallel-Chain Mechanisms . . . . . . . 165 5.4.1 StewartPlatform 165 5.4.2 Jacobian Equation and the Principle of Duality . . . . 175 5.4.3 Modeling and Analysis of 3+3 Hybrid Robot Arms 184 5.5 Computer Projects and ExercisesoftheChapter 196 5.5.1 TwoComputerSimulationProjects 196 5.5.2 ExerciseProblems 198 References 202 6 Digital Mock-Up and 3D Animation for Robot Arms. . . 205 6.1 Basic Surface Drawing and Data Structure in MATLAB TM 205 6.2 Digital Modeling and Assembling for Robot Arms . . . . . . . . 215 6.3 MotionPlanningand3DAnimation 220 6.4 ExercisesoftheChapter 228 References 229 7 Robotic Dynamics: Modeling and Formulations 231 7.1 Geometrical Interpretation of Robotic Dynamics . . . . . . . . . 231 7.2 TheNewton-EulerAlgorithm 236 7.3 The Lagrangian Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 7.4 Determinationof InertialMatrix 246 7.5 Configuration Manifolds and Isometric Embeddings . . . . . . . 257 7.5.1 Metric Factorization and Manifold Embedding . . . . . 257 7.5.2 IsometricEmbeddingofC-Manifolds 266 7.5.3 Combined Isometric Embedding and Structure Matrix 270 7.5.4 The Minimum Isometric Embedding and Isometrization 272 www.it-ebooks.info [...]... than the industrial robots [15] An Italian mathematician/engineer Leonardo da Vinci designed a humanoid automaton that looks like an armored knight, known as Leonardo’s robot in 1495 The more contemporary human- like machine Wabot-1 was built at Waseda University in Tokyo, Japan in 1973 Wabot-1 was able to walk, to communicate with a person in Japanese by an artificial mouth, and to measure distances and... ideal to place the modeling, programming, modification, refinement and graphic animation all in one, such as MATLABT M , to create a flexible, user-friendly and true open-architectural digital environment for future robotics and digital human graphic simulation studies This book aims to take a journey from robot to digital human by providing the reader with a means to build a theoretical foundation at... Ergonomics and Human factors Engineering CRC Press (2008) 22 Abdel-Malek, K., Yang, J., et al.: Towards a New Generation of Virtual Humans International Journal of Human Factors Modelling and Simulation 1(1), 2–39 (2006) 23 Abdel-Malek, K., et al.: Santos: a Physics-Based Digital Human Simulation Environment In: The 50th Annual Meeting of the Human Factors and Ergonomics Society, San Francisco, CA (October... it has also made a pioneering leap and contribution to the digital human research community in borrowing and applying robotic modeling theories and approaches Their multi-disciplinary research has integrated many major areas in digital human modeling and simulation, such as: • • • • • • • • • • • Human performance and human systems integration; Posture and motion prediction; Task simulation and analysis;... examples of basic mathematical sculpturing and deforming algorithms as a typical illustration, and leave to the reader to extend the basic algorithms to more advanced and sophisticated programs Furthermore, in the digital human modeling part of the book, each set of kinematic parameters, such as joint offsets and link lengths for a digital mannequin is part of the anthropometric data They can be easily... writing a MATLABT M program to create a desired digital model for animation Since MATLABT M has recently added a Robotics toolbox into the family, it will certainly reinforce the conceptual understanding of robotic theories and help for learning numerical solutions to robotic modeling procedures and motion algorithms 1.3 A Journey from Robot Analysis to Digital Human Modeling 11 Therefore, to make the journey. .. rather than later, a smart humanoid robot would come to reality, and a true intelligent home robot would be a family addition to serve and assist in daily housework and to entertain family members and guests, and even replace a desktop or laptop computer to do every computation and documentation work 1.2 Digital Human Modeling: History, Achievements and New Challenges 7 in the home However, to achieve... Home Robots Humanoid Robots Non-Robotic Flexible Systems Automation Control App Smart Digital Digital Human Human Physical Models Integration & Motions Robotics Research Industrial Robots Fig 1.3 Robotics research and evolutions growing and getting mature, it became more capable of helping new robotic systems creation and fueling new research branches to sprout and grow In addition to creating and developing... A planar mechanism Three parallel-chain systems Data structure of a cylinder drawing in MATLABT M Data structure of a sphere drawing in MATLABT M A diamond and an ellipsoid drawing in MATLABT M Create a rectangular surface in MATLABT M Create a full torus surface in MATLABT M Create a half torus... directions to an object using external receptors, such as artificial ears and eyes Ten years later, they created a new Wabot-2 as a musician humanoid robot that was able to communicate with a person, read a normal musical score by his eyes and play tones of average difficulty on an electronic organ In 1986, Honda developed seven biped robots, called E0 (Experimental Model 0) through E6 Model E0 was created . . . 513 10.31 Adigital humanin ball-throwing 513 10.32 Adigital humanin ball-throwing 514 10.33 Adigital humanisclimbingupastair 514 10.34 A digital human is climbing up a stair and then jumping down. torque distribution with and without optimization 462 10.1 Adigitalhumanheadmodel 468 10.2 A face picture for texture-mapping onto the surface of a digitalhumanheadmodel 469 10.3 Adigitalhumanabdomen/hipmodel. Ahybrid-chainplanarrobot 157 5.14 Stewart platform - a typical 6-axis parallel-chain system . . . 157 5.15 A 7-axis dexterous manipulator RRC K-1207 and a dual-arm 17-axis dexterous manipulator RRC