I CONTEMPORARY ROBOTICS - Challenges and Solutions CONTEMPORARY ROBOTICS - Challenges and Solutions Edited by A. D. Rodić In-Tech intechweb.org Published by In-Teh In-Teh Olajnica 19/2, 32000 Vukovar, Croatia Abstracting and non-prot use of the material is permitted with credit to the 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. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2009 In-teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published December 2009 Printed in India Technical Editor: Melita Horvat CONTEMPORARY ROBOTICS - Challenges and Solutions, Edited by A. D. Rodić p. cm. ISBN 978-953-307-038-4 V Preface According to the Oxford English Dictionary, the word robotics was rst used in print by Isaac Asimov, in his science ction short story “Liar!”, published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots. However, in some of Asimov’s other works, he states that the rst use of the word robotics was in his short story Runaround (Astounding Science Fiction, March 1942). The word robotics was derived from the word robot, which was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum’s Universal Robots), which premiered in 1921. The eld of robotics was born in the middle of the last century when emerging computers were altering every eld of science and engineering. Stories of articial helpers and companions and attempts to create them have a long history, but fully autonomous machines only appeared in the 20th century. The rst digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Today, commercial and industrial robots are in widespread use performing jobs more cheaply or more accurately and reliably than humans. They are also employed in jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots are widely used in manufacturing, assembly, and packing; transport; earth and space exploration; surgery; weaponry; laboratory research; safety; and mass production of consumer and industrial goods. In actuality any machines, including familiar household appliances, which have microprocessors directing their actions can be considered as robots. In addition to vacuum cleaners, there are washing machines, refrigerators, and dishwashers that could be easily marketed as robotic devices. There are of course a wide range of possibilities, including those machines that have sensory environmental feedback and decision-making capabilities. In actual practice, in devices considered to be robotic, the amount of sensory and decision making capability may vary from a great deal to none. In recent decades the study of robotics has expanded from a discipline centered on the study of mechatronic devices to a much broader interdisciplinary subject. An example of this is the area called human-centered robotics. Here one deals with the interactions between humans and intelligent machines. This is a growing area where the study of the interactions between robots and humans has enlisted expertise from outside the classical robotics domain. Concepts such as emotions in both robots and people are being studied, and older areas such as human physiology and biology are being incorporated into the mainstream of robotics VI research. These activities enrich the eld of robotics, as they introduce new engineering and science dimensions into the research discourse. The eld of autonomous robots, a widely recognized test-bed, has recently beneted from salient contributions in robot planning using the results of algorithmic geometry as well as of a stochastic framework approach applied both to environmental modeling and robot localization problems (SLAM, simultaneous localization and maping), and further from the development of decisional procedures via Bayesian estimation and decision approaches. For the last decade of the millennium, robotics largely dealt with the intelligent robot paradigm, blending together robots and machine-intelligence generic research within themes covering advanced sensing and perception, task reasoning and planning, operational and decisional autonomy, functional integration architectures, intelligent human–machine interfaces, safety, and dependability. The evolution levels for robotics stress the role of theoretical aspects, moving from application domains to the technical and scientic area. The organization of this thematic book illustrates these different levels. The edited book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the eld. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The rst thematic topics of the book are devoted to the theoretical issues. This includes development of the algorithms for automatic trajectory generation using redundancy resolution scheme, intelligent algorithms for robotic grasping, modeling approach for reactive mode handling of exible manufacturing and design of an advanced controller for robot manipulators. The second part of the book concerns with different aspects of robot calibration and sensing. This includes a geometric and threshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for exible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, conguration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modeling of omni-directional wheeled-based robots, building of hunter-hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. That concerns with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials. The content of this thematic book admirably reects the complementary aspects of theory and practice which have taken place in the last years. Certainly, the content of this book will serve as a valuable handbook to those who work in research and development of advanced robotic devices. VII The editors are greatfull to the authors for their excellent work and interesting contributions. Thanks are also due to the renomeus publisher for their editorial assistance and excellent technical arrangement of the book. December, 2009 A. D. Rodić VIII IX Contents Preface V I. Modeling, Trajectory Generation and Control 1. AutomaticTrajectoryGenerationusingRedundancyResolutionSchemeBasedon VirtualMechanism 001 BojanNemecandLeonŽlajpah 2. RoboticGraspingofUnknownObjects 019 MarioRichtsfeldandMarkusVincze 3. Amodelingapproachformodehandlingofexiblemanufacturingsystems 035 NadiaHamaniandAbderahmanElMhamedi 4. Computed-Torque-Plus-Compensation-Plus-ChatteringControllerofRobot Manipulators 051 LeonardoAcho,YolandaVidalandFrancescPozo II. Calibration and Sensing 5. GeometricandThresholdCalibrationAspectsofaMultipleLine-ScanVision SystemforPlanarObjectsInspection 061 AndreiHossuandDanielaHossu 6. Robot-BasedInline2D/3DQualityMonitoringUsingPicture-GivingandLaser TriangulationSensors 079 Chen-KoSung,RobinGruna,MinziZhugeandKai-UweVieth 7. Prospectivepolymercompositematerialsforapplicationsinexibletactilesensors 099 M.KniteandJ.Zavickis III. Mobile robots and Multi-agent Systems 8. SimultaneousLocalizationandMapping(SLAM)ofaMobileRobotBasedon FusionofOdometryandVisualDataUsingExtendedKalmanFilter 129 AndréM.SantanaandAdelardoA.D.Medeiros 9. DistributedEstimationofUnknownBeaconPositionsinaLocalizationNetwork 147 MikkoElomaaandAarneHalme X 10. GenericReal-TimeMotionControllerforDifferentialMobileRobots 163 JoãoMonteiroandRuiRocha 11. Controloffuelcellsystemsinmobileapplications 187 JiriKoziorek,BohumilHorakandMiroslavKopriva 12. ModelingandAssessingofOmni-directionalRobotswithThreeandFourWheels 207 HélderP.Oliveira,ArmandoJ.Sousa,A.PauloMoreiraandPauloJ.Costa 13. HUNTER–HYBRIDUNIFIEDTRACKINGENVIRONMENT 231 AislanGomideFoinaandFranciscoJavierRamirez-Fernandez 14. CooperationControlinDistributedPopulation-basedAlgorithmsusinga Multi-agentApproachApplicationtoareal-lifeVehicleRoutingProblem 249 KamelBelkhelladi,PierreChauvetandArnaudSchaal IV. Humanoid robots and Biomimetic Aspects 15. AdaptiveBio-inspiredControlofHumanoidRobots–FromHumanLocomotion toanArticialBipedGaitofHighPerformances 275 AleksandarRodić,KhalidAddiandGeorgesDalleau 16. Dynamic-BasedSimulationforHumanoidRobotWalkingUsingWalkingSupport System 301 AimanMusaM.Omer,Hun-okLimandAtsuoTakanishi 17. OutputFeedbackAdaptiveControllerModelforPerceptualMotorControl DynamicsofHuman 313 HirofumiOhtsuka,KokiShibasatoandShigeyasuKawaji 18. Biomimeticapproachtodesignandcontrolmechatronicsstructureusingsmart materials 329 NicuGeorgeBîzdoacă,DanielaTarniţă,AncaPetrişor,IlieDiaconu,DanTarniţăandElvira Bîzdoacă [...]... Budapest 18 CONTEMPORARY ROBOTICS - Challenges and Solutions Robotic Grasping of Unknown Objects 19 2 X Robotic Grasping of Unknown Objects Mario Richtsfeld and Markus Vincze Institute of Automation and Control Vienna University of Technology Gusshausstr 2 7-2 9, Vienna, Austria 1 Introduction “People have always been fascinated by the exquisite precision and flexibility of the human hand When hand meets... Section 5 shows the achieved results and Section 6 finally concludes the work 20 CONTEMPORARY ROBOTICS - Challenges and Solutions 1. 1 Problem Statement and Contribution The goal of this work is to show a robust way of calculating possible grasps for unknown objects despite of noise, outliers and shadows From a single-view two shadows appear: one from the camera and another one from the laser which... treat it as a restricted 4 CONTEMPORARY ROBOTICS - Challenges and Solutions coordinate The resulting task Jacobian, where the third line is canceled due to the task redundancy, has the form 1 ( x − x0 ) 0 − 0 0 0 − η η (−z0 + z) (−z0 +z)2 (−z0 +z)2 0 1 0 0 0 0 Jt = 0 0 0 1 0 0 , x − x0 −z0 + z − 0 0 1 0 η η 0 0 0 0 0 1 where we used the substitute... of redundancy In robot trajectory generation, we define primary and secondary task Primary task is the position of the TCP of the robot We have multiple secondary tasks, such as a) Maximizing the distance between the robot joins and Fig 9 Batch trajectory generation 14 CONTEMPORARY ROBOTICS - Challenges and Solutions the environment objects-obstacles This task prevents the robot to collide with the obstacles... we have to deny to the real-time trajectory modifications, which can be only implemented in the control loop 9 References Asada, H & Slotine, J.-J (19 86) Robot Analysis and Control, John Wiley & Sons Chaumette, F & Marchand, (20 01) A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing, IEEE Transactions on Robotics and Automation, 17 (5) Dulio, S & Boer, S (2004)... Manufacturing, 17 (7) : 60 1- 6 11 Jatta, F., Zanoni, L., Fassi, I & Negri, S (2004) A roughing/cementing robotic cell for custom made shoe manufacture, Int J Computer Intergrated Manufacturing, 17 (7) : 645–652 Kapoor, C., Pholsiri, C & Tesar, D (2004) Manipulator task-based performance optimization., Proc of DECT’04 ASME Conference, Salt Lake City Khatib, O (19 86) Real-time obstacle avoidance for manipulators and. .. τx , the second to the null-space control τn and the third and the fourth correspond to the compensation of the non-linear system dynamics and the external force, respectively Here, ex = xd − x is the task-space tracking error, e f = fd − f and en = ˙ qnd − qn are the force and the null-space tracking error xd and qnd are the desired task ˙ ˙ ˙ coordinates and the null space velocity, respectively The... spray cabin for application of the polishing solvents and an industrial robot, as seen in Fig 4 The 6 d.o.f robot is a commercially available product from ABB, rest of the cell components were not available and had to be developed 12 CONTEMPORARY ROBOTICS - Challenges and Solutions Fig 6 Shoe grinding trajectory Fig 7 Virtual mechanism angles q8 and q9 especially for this purpose Customized mass production... grinding disc is naturally described with outer surface of the torus, where R and r are the corresponding radii of the brush, as shown in the Fig 3 and x is the task (Cartesian) coordinate of the whole system Assuming that the robot tool position and Fig 3 Rotary brush presented as torus 6 CONTEMPORARY ROBOTICS - Challenges and Solutions robot Jacobian is known, the forward kinematics can be easily expressed... wrist singularity and possible collisions of the robot with the environment The required flexibility required to solve the above problems is offered by the kinematic redundancy We proposed a new method of solving the kinematic redundancy which 16 CONTEMPORARY ROBOTICS - Challenges and Solutions arises from the shape of the work tool The main benefit of the proposed method is the simplicity and efficiency . I CONTEMPORARY ROBOTICS - Challenges and Solutions CONTEMPORARY ROBOTICS - Challenges and Solutions Edited by A. D. Rodić In-Tech intechweb.org Published by In-Teh In-Teh Olajnica 19 /2,. Melita Horvat CONTEMPORARY ROBOTICS - Challenges and Solutions, Edited by A. D. Rodić p. cm. ISBN 97 8-9 5 3-3 0 7-0 3 8-4 V Preface According to the Oxford English Dictionary, the word robotics was. 0 61 AndreiHossu and DanielaHossu 6. Robot-BasedInline2D/3DQualityMonitoringUsingPicture-Giving and Laser TriangulationSensors 079 Chen-KoSung,RobinGruna,MinziZhuge and Kai-UweVieth 7.