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I Robot Manipulators, Trends and Development Robot Manipulators, Trends and Development Edited by Prof. Dr. Agustín Jiménez and Dr. Basil M. Al Hadithi 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. © 2010 In-teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published March 2010 Printed in India Technical Editor: Sonja Mujacic Cover designed by Dino Smrekar Robot Manipulators, Trends and Development, Edited by Prof. Dr. Agustín Jiménez and Dr. Basil M. Al Hadithi p. cm. ISBN 978-953-307-073-5 V Preface This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers. This book is the result of the effort by a number of contributors involved in robotics elds. The aim is to provide a wide and extensive coverage of all the areas related to the most up to date advances in robotics. The authors have approached a good balance between the necessary mathematical expressions and the practical aspects of robotics. The organization of the book shows a good understanding of the issues of high interest nowadays in robot modelling, simulation and control. The book demonstrates a gradual evolution from robot modelling, simulation and optimization to reach various robot control methods. These two trends are nally implemented in real applications to examine their effectiveness and validity. Editors: Prof. Dr. Agustín Jiménez and Dr. Basil M. Al Hadithi VI VII Contents Preface V 1. OptimalUsageofRobotManipulators 001 BehnamKamrani,ViktorBerbyuk,DanielWäppling,XiaolongFengandHansAndersson 2. ROBOTICMODELLINGANDSIMULATION:THEORYANDAPPLICATION 027 MuhammadIkhwanJambak,HabibollahHaron,HelmeeIbrahimandNorhazlanAbdHamid 3. RobotSimulationforControlDesign 043 LeonŽlajpah 4. ModelingofaOneFlexibleLinkManipulator 073 MohamadSaad 5. MotionControl 101 SangchulWonandJinwookSeok 6. GlobalStiffnessOptimizationofParallelRobotsUsing KinetostaticPerformanceIndices 125 DanZhang 7. MeasurementAnalysisandDiagnosisforRobotManipulatorsusing AdvancedNonlinearControlTechniques 139 AmrPertew,Ph.D,P.Eng.,HoracioMarquez,Ph.D,P.EngandQingZhao,Ph.D,P.Eng 8. CartesianControlforRobotManipulators 165 PabloSánchez-SánchezandFernandoReyes-Cortés 9. BiomimeticImpedanceControlofanEMG-BasedRoboticHand 213 ToshioTsuji,KeisukeShima,NanBuandOsamuFukuda 10. AdaptiveRobustControllerDesignsAppliedtoFree-FloatingSpace ManipulatorsinTaskSpace 231 TatianaPazelli,MarcoTerraandAdrianoSiqueira 11. NeuralandAdaptiveControlStrategiesforaRigidLinkManipulator 249 DorinPopescu,DanSelişteanu,CosminIonete,MonicaRomanandLiviaPopescu 12. ControlofFlexibleManipulators.TheoryandPractice 267 Pereira,E.;Becedas,J.;Payo,I.;Ramos,F.andFeliu,V. VIII 13. Fuzzylogicpositioningsystemofelectro-pneumaticservo-drive 297 JakubE.Takosoglu,RyszardF.DindorfandPawelA.Laski 14. TeleoperationSystemofIndustrialArticulatedRobot ArmsbyUsingForcefreeControl 321 SatoruGoto 15. TrajectoryGenerationforMobileManipulators 335 FoudilAbdessemedandSalimaDjebrani 16. TrajectoryControlofRobotManipulatorsUsingaNeuralNetworkController 361 Zhao-HuiJiang 17. PerformanceEvaluationofAutonomousContourFollowingAlgorithmsforIndustrial Robot 377 AntonSatriaPrabuwono,SamsiMd.Said,M.A.BurhanuddinandRizaSulaiman 18. AdvancedDynamicPathControloftheThreeLinksSCARAusingAdaptiveNeuro FuzzyInferenceSystem 399 PrabuD,SurendraKumarandRajendraPrasad 19. TopologicalMethodsforSingularity-FreePath-Planning 413 DavidePaganelli 20. Vision-based2Dand3DControlofRobotManipulators 441 LuisHernández,HichemSahliandRenéGonzález 21. UsingObject’sContourandFormtoEmbedRecognitionCapabilityintoIndustrial Robots 463 I.Lopez-Juarez,M.Peña-CabreraandA.V.Reyes-Acosta 22. Autonomous3DShapeModelingandGraspPlanningfor HandlingUnknownObjects 479 YamazakiKimitoshi,MasahiroTomonoandTakashiTsubouchi 23. OpenSoftwareStructureforControllingIndustrialRobotManipulators 497 FlavioRoberti,CarlosSoria,EmanuelSlawiñski,VicenteMutandRicardoCarelli 24. MiniatureModularManufacturingSystemsandEfciencyAnalysisoftheSystems 521 NozomuMishima,KondohShinsuke,KiwamuAshidaandShizukaNakano 25. ImplementationofanIntelligentRobotizedGMAWWeldingCell, Part1:DesignandSimulation 543 I.Davila-Rios,I.Lopez-Juarez,LuisMartinez-MartinezandL.M.Torres-Treviño 26. ImplementationofanIntelligentRobotizedGMAWWeldingCell, Part2:Intuitivevisualprogrammingtoolfortrajectorylearning 563 I.Lopez-Juarez,R.Rios-CabreraandI.Davila-Rios IX 27. DynamicBehaviorofaPneumaticManipulatorwithTwoDegreesofFreedom 575 JuanManuelRamos-Arreguin,EfrenGorrostieta-Hurtado,JesusCarlosPedraza-Ortega, RenedeJesusRomero-Troncoso,Marco-AntonioAcevesandSandraCanchola 28. DexterousRoboticManipulationofDeformableObjectswith Multi-SensoryFeedback-aReview 587 FouadF.KhalilandPierrePayeur 29. Taskanalysisandkinematicdesignofanovelroboticchairfor themanagementoftop-shelfvertigo 621 GiovanniBerselli,GianlucaPalli,RiccardoFalconi,GabrieleVassura andClaudioMelchiorri 30. AWire-DrivenParallelSuspensionSystemwith8Wires(WDPSS-8) forLow-SpeedWindTunnels 647 YaqingZHENG,QiLIN1andXiongweiLIU X [...]...Optimal Usage of Robot Manipulators 1 1 X Optimal Usage of Robot Manipulators Behnam Kamrani1, Viktor Berbyuk2, Daniel Wäppling3, Xiaolong Feng4 and Hans Andersson4 1MSC.Software 2Chalmers Sweden AB, SE-42 677, Gothenburg University of Technology, SE- 412 96, Gothenburg 3ABB Robotics, SE-78 16 8, Västerås 4ABB Corporate Research, SE-7 217 8, Västerås Sweden 1 Introduction Robot- based automation has... all original robot targets so that the original placement of the robot task may be manipulated by in coordinates, by in coordinates, and by in corodinates The limits for the path translation are Optimal Usage of Robot Manipulators �� � ��0 1 �� 0 1 �� �� � �0 � � 0�� �� �� � ��0 1 �� 0 1 �� 17 (10 ) The weighting factors �� and �� in objective function (5) are set to �� � 1 0 and �� � 10 0 in this task... motor power consumption Fig 16 Convergence curve (a) for optimal task placement and (b) for combined optimization, (ABB IRB6640-255 -18 0 robot) Fig 17 Solution space of normalized lifetime of gearbox of axis-2 vs normalized cycle time (a) for optimal task placement and (b) for combined optimization, (ABB IRB6640-255 -18 0 robot) 22 Robot Manipulators, Trends and Development Fig 18 Solution space of normalized... original) 20 15 10 5 0 Case 1 Case 2 Case 3 Case 4 Fig 11 Comparison of cycle time reduction percentage with respect to highest and original cycle time in four case studies 3 Combined Drive-Train and Robot Placement Optimization 3 .1 Research background Offline programming of industrial robots and simulation-based robotic work cell design have become an increasing important approach for the robotic cell... cycle time reduction Fig 5 IRB6600 ABB robot with a spot welding path of case 1 in its original location Fig 6 IRB6600 ABB robot with a spot welding path of case 1 in optimal location found by translation approach 10 Robot Manipulators, Trends and Development 2.4 .1. 4 Case 4 The forth case is carried out using an ABB robot of IRB640 type In contrast to the previous robots which have 6 joints, IRB640 has... to 2.2 seconds which evidences 21 percent cycle time reduction 12 Robot Manipulators, Trends and Development Fig 10 IRB6600 ABB robot with a spot welding path of case 1 in optimal location found by rotation approach 2.4.2.4 Case 4 The forth case study is carried out with the same robot presented in 2.4 .1. 4 The point in the middle of a line which connects the first and forth targets was chosen as the... sub-tasks in a robot cell can also be optimized using the proposed methodologies 5 References Barral, D & Perrin J-P & Dombre, E & Lie’geois, A (19 99) Development of optimization tools in the context of an industrial robotic CAD software product, International Journal of Advvanced Manufacturing Technology, Vol 15 (11 ), pp 822–8 31, doi: 10 .10 07/ s0 017 0005 013 8 Box, G.E.P & Hunter, W.G & Hunter, J.S (19 78) Statistics... D (19 95) Response surface methodology: process and product optimization using designed experiments, Wiley, New York Nelson, B & Donath, M (19 90) Optimizing the location of assembly tasks in a manipulator’s workspace, Journal of Robotic Systems, Vol 7(6), pp 7 91 811 , doi :10 .10 02/rob.4620070602 Pettersson, M & Ölvander, J (2009) Drive Train Optimization for Industrial Robots, IEEE Transactions on Robotics,... the position of task and the settings of drive-train components of a robot manipulator are optimized simultaneously to understand the trade-off among cycle time, lifetime of critical drive-train components, and energy efficiency In both section 2 and 3, results of different case studies comprising several industrial robots performing different 2 Robot Manipulators, Trends and Development tasks are... combined optimization, (ABB IRB6600-255 -17 5 robot) Fig 15 Solution space of normalized total motor power vs cycle time (a) for optimal task placement and (b) for combined optimization, (ABB IRB6600-255 -17 5 robot) 3.4 .1. 2 Combined task placement and drive-train optimization The combined optimization involves both path translation for robot task placement and change of robot drive-train parameter setup Two . I Robot Manipulators, Trends and Development Robot Manipulators, Trends and Development Edited by Prof. Dr. Agustín Jiménez and Dr. Basil M. Al Hadithi In-Tech. 647 YaqingZHENG,QiLIN1 and XiongweiLIU X OptimalUsageof Robot Manipulators 1 OptimalUsageof Robot Manipulators BehnamKamrani,ViktorBerbyuk,DanielWäppling,XiaolongFeng and HansAndersson X. Jiménez and Dr. Basil M. Al Hadithi VI VII Contents Preface V 1. OptimalUsageof Robot Manipulators 0 01 BehnamKamrani,ViktorBerbyuk,DanielWäppling,XiaolongFeng and HansAndersson 2. ROBOTICMODELLING AND SIMULATION:THEORY AND APPLICATION
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