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Among these, modelling, planningand control play a basic role, not only in the traditional context of industrial robotics, but also for the advanced scenarios of ?eld and service robots, which have attracted an increasing interest from the research community in the last 15 years. This book is the natural evolution of the previous text ...
Advanced Textbooks in Control and Signal ProcessingSeries EditorsProfessor Michael J Grimble Professor of Industrial Systems and DirectorProfessor Michael A Johnson Professor Emeritus of Control Systems and Deputy DirectorIndustrial Control Centre Department of Electronic and Electrical EngineeringUniversity of Strathclyde Graham Hills Building 50 George Street Glasgow G1 1QE UKOther titles published in this seriesGenetic Algorithms Control Systems with Input and OutputK F Man K S Tang and S Kwong ConstraintsA H Glattfelder and W SchaufelbergerIntroduction to Optimal EstimationE W Kamen and J K Su Analysis and Control of Non linearProcess SystemsDiscrete time Signal Processing K M Hangos J Bokor andD Williamson G Szederk nyiNeural Networks for Modelling and Model Predictive Control 2nd EditionControl of Dynamic Systems E F Camacho and C BordonsM N rgaard O Ravn N K Poulsenand L K Hansen Principles of Adaptive Filters and Selflearning SystemsFault Detection and Diagnosis in A ZaknichIndustrial SystemsL H Chiang E L Russell and R D Braatz Digital Self tuning ControllersV Bob l J B hm J Fessl andSoft Computing J Mach ekL Fortuna G Rizzotto M LavorgnaControl of Robot Manipulators inG Nunnari M G Xibilia and R CaponettoJoint SpaceStatistical Signal Processing R Kelly V Santib ez and A Lor aT Chonavel Receding Horizon ControlDiscrete time Stochastic Processes W H Kwon and S Han2nd Edition Robust Control Design with MATLABT S derstr m D W Gu P H Petkov andParallel Computing for Real time Signal M M KonstantinovProcessing and Control Control of Dead time ProcessesM O Tokhi M A Hossain and J E Normey Rico and E F CamachoM H ShaheedModeling and Control of Discrete eventMultivariable Control Systems Dynamic SystemsP Albertos and A Sala B Hr z and M C ZhouBruno Siciliano Lorenzo SciaviccoLuigi Villani Giuseppe OrioloModelling Planning and ControlBruno Siciliano PhD Lorenzo Sciavicco DrEngDipartimento di Informatica e Sistemistica Dipartimento di Informatica e AutomazioneUniversit di Napoli Federico II Universit di Roma TreVia Claudio 21 Via della Vasca Navale 7980125 Napoli 00146 RomaItaly ItalyLuigi Villani PhD Giuseppe Oriolo PhDDipartimento di Informatica e Sistemistica Dipartimento di Informatica e SistemisticaUniversit di Napoli Federico II Universit di Roma La SapienzaVia Claudio 21 Via Ariosto 2580125 Napoli 00185 RomaItaly ItalyISBN 978 1 84628 641 4 e ISBN 978 1 84628 642 1DOI 10 1007 978 1 84628 642 1Advanced Textbooks in Control and Signal Processing series ISSN 1439 2232A catalogue record for this book is available from the British LibraryLibrary of Congress Control Number 20089395742009 Springer Verlag London LimitedMATLAB is a registered trademark of The MathWorks Inc 3 Apple Hill Drive Natick MA 017602098 USA http www mathworks comApart from any fair dealing for the purposes of research or private study or criticism or review aspermitted under the Copyright Designs and Patents Act 1988 this publication may only bereproduced stored or transmitted in any form or by any means with the prior permission in writing ofthe publishers or in the case of reprographic reproduction in accordance with the terms of licencesissued by the Copyright Licensing Agency Enquiries concerning reproduction outside those termsshould be sent to the publishersThe use of registered names trademarks etc in this publication does not imply even in the absence ofa specific statement that such names are exempt from the relevant laws and regulations and thereforefree for general useThe publisher makes no representation express or implied with regard to the accuracy of theinformation contained in this book and cannot accept any legal responsibility or liability for any errorsor omissions that may be madeCover design eStudio Calamar S L Girona SpainPrinted on acid free paper9 8 7 6 5 4 3 2 1springer comto our familiesSeries Editors ForewordThe topics of control engineering and signal processing continue to ourish anddevelop In common with general scienti c investigation new ideas conceptsand interpretations emerge quite spontaneously and these are then discussedused discarded or subsumed into the prevailing subject paradigm Sometimesthese innovative concepts coalesce into a new sub discipline within the broadsubject tapestry of control and signal processing This preliminary battle between old and new usually takes place at conferences through the Internet andin the journals of the discipline After a little more maturity has been acquiredby the new concepts then archival publication as a scienti c or engineeringmonograph may occurA new concept in control and signal processing is known to have arrivedwhen su cient material has evolved for the topic to be taught as a specialisedtutorial workshop or as a course to undergraduate graduate or industrialengineers Advanced Textbooks in Control and Signal Processing are designedas a vehicle for the systematic presentation of course material for both popularand innovative topics in the discipline It is hoped that prospective authors willwelcome the opportunity to publish a structured and systematic presentationof some of the newer emerging control and signal processing technologies inthe textbook seriesRobots have appeared extensively in the artistic eld of science ctionwriting The actual name robot arose from its use by the playwright KarelC apek in the play Rossum s Universal Robots 1920 Not surprisingly theartistic focus has been on mechanical bipeds with anthropomorphic personalities often termed androids This focus has been the theme of such cinematic productions as I Robot based on Isaac Asimov s stories and StanleyKubrick s lm A I however this book demonstrates that robot technologyis already widely used in industry and that there is some robot technologywhich is at prototype stage rapidly approaching introduction to commercialuse Currently robots may be classi ed according to their mobility attributesas shown in the gureviii Series Editors ForewordThe largest class of robots extant today is that of the xed robot whichdoes repetitive but often precise mechanical and physical tasks These robotspervade many areas of modern industrial automation and are mainly concerned with tasks performed in a structured environment It seems highlylikely that as the technology develops the number of mobile robots will significantly increase and become far more visible as more applications and tasksin an unstructured environment are serviced by robotic technologyWhat then is robotics A succinct de nition is given in The Chamber s Dictionary 2003 the branch of technology dealing with the design constructionand use of robots This de nition certainly captures the spirit of this volumein the Advanced Textbooks in Control and Signal Processing series entitledRobotics and written by Bruno Siciliano Lorenzo Sciavicco Luigi Villani andGiuseppe Oriolo This book is a greatly extended and revised version of anearlier book in the series Modelling and Control of Robot Manipulators 2000ISBN 978 1 85233 221 1 As can be seen from the gure above robots covera wide variety of types and the new book seeks to present a uni ed approachto robotics whilst focusing on the two leading classes of robots the xed andthe wheeled types The textbook series publishes volumes in support of newdisciplines that are emerging with their own novel identity and robotics asa subject certainly falls into this category The full scope of robotics lies atthe intersection of mechanics electronics signal processing control engineering computing and mathematical modelling However within this very broadframework the authors have pursued the themes of modelling planning andcontrol These are and will remain fundamental aspects of robot design andoperation for years to come Some interesting innovations in this text includematerial on wheeled robots and on vision as used in the control of robotsThus the book provides a thorough theoretical grounding in an area wherethe technologies are evolving and developing in new applicationsThe series is one of textbooks for advanced courses and volumes in theseries have useful pedagogical features This volume has twelve chapters covering both fundamental and specialist topics and there is a Problems sectionat the end of each chapter Five appendices have been included to give moredepth to some of the advanced methods used in the text There are over twelvepages of references and nine pages of index The details of the citations andindex should also facilitate the use of the volume as a source of reference asSeries Editors Foreword ixwell as a course study text We expect that the student the researcher thelecturer and the engineer will nd this volume of great value for the study ofGlasgow Michael J GrimbleAugust 2008 Michael A JohnsonIn the last 25 years the eld of robotics has stimulated an increasing interestin a wide number of scholars and thus literature has been conspicuous bothin terms of textbooks and monographs and in terms of specialized journalsdedicated to robotics This strong interest is also to be attributed to the interdisciplinary character of robotics which is a science having roots in di erentareas Cybernetics mechanics controls computers bioengineering electronics to mention the most important ones are all cultural domains whichundoubtedly have boosted the development of this scienceDespite robotics representing as yet a relatively young discipline its foundations are to be considered well assessed in the classical textbook literatureAmong these modelling planning and control play a basic role not only in thetraditional context of industrial robotics but also for the advanced scenariosof eld and service robots which have attracted an increasing interest fromthe research community in the last 15 yearsThis book is the natural evolution of the previous text Modelling and Control of Robot Manipulators by the rst two co authors published in 1995 andin 2000 with its second edition The cut of the original textbook has beencon rmed with the educational goal of blending the fundamental and technological aspects with those advanced aspects on a uniform track as regards arigorous formalismThe fundamental and technological aspects are mainly concentrated in therst six chapters of the book and concern the theory of manipulator structuresincluding kinematics statics and trajectory planning and the technology ofrobot actuators sensors and control unitsThe advanced aspects are dealt with in the subsequent six chapters andconcern dynamics and motion control of robot manipulators interaction withthe environment using exteroceptive sensory data force and vision mobilerobots and motion planningThe book contents are organized in 12 chapters and 5 appendicesIn Chap 1 the di erences between industrial and advanced applicationsare enlightened in the general robotics context The most common mechanicalxii Prefacestructures of robot manipulators and wheeled mobile robots are presentedTopics are also introduced which are developed in the subsequent chaptersIn Chap 2 kinematics is presented with a systematic and general approachwhich refers to the Denavit Hartenberg convention The direct kinematicsequation is formulated which relates joint space variables to operational spacevariables This equation is utilized to nd manipulator workspace as well asto derive a kinematic calibration technique The inverse kinematics problemis also analyzed and closed form solutions are found for typical manipulationstructuresDi erential kinematics is presented in Chap 3 The relationship betweenjoint velocities and end e ector linear and angular velocities is described bythe geometric Jacobian The di erence between the geometric Jacobian andthe analytical Jacobian is pointed out The Jacobian constitutes a fundamental tool to characterize a manipulator since it allows the determination ofsingular con gurations an analysis of redundancy and the expression of therelationship between forces and moments applied to the end e ector and theresulting joint torques at equilibrium con gurations statics Moreover theJacobian allows the formulation of inverse kinematics algorithms that solvethe inverse kinematics problem even for manipulators not having a closed formIn Chap 4 trajectory planning techniques are illustrated which deal withthe computation of interpolating polynomials through a sequence of desiredpoints Both the case of point to point motion and that of motion througha sequence of points are treated Techniques are developed for generatingtrajectories both in the joint space and in the operational space with a specialconcern to orientation for the latterChapter 5 is devoted to the presentation of actuators and sensors After anillustration of the general features of an actuating system methods to controlelectric and hydraulic drives are presented The most common proprioceptiveand exteroceptive sensors in robotics are describedIn Chap 6 the functional architecture of a robot control system is illustrated The characteristics of programming environments are presented withan emphasis on teaching by showing and robot oriented programming A general model for the hardware architecture of an industrial robot control systemis nally discussedChapter 7 deals with the derivation of manipulator dynamics which playsa fundamental role in motion simulation manipulation structure analysis andcontrol algorithm synthesis The dynamic model is obtained by explicitly taking into account the presence of actuators Two approaches are considerednamely one based on Lagrange formulation and the other based on NewtonEuler formulation The former is conceptually simpler and systematic whereasthe latter allows computation of a dynamic model in a recursive form Notableproperties of the dynamic model are presented including linearity in the parameters which is utilized to develop a model identi cation technique FinallyPreface xiiithe transformations needed to express the dynamic model in the operationalspace are illustratedIn Chap 8 the problem of motion control in free space is treated Thedistinction between joint space decentralized and centralized control strategiesis pointed out With reference to the former the independent joint controltechnique is presented which is typically used for industrial robot controlAs a premise to centralized control the computed torque feedforward controltechnique is introduced Advanced schemes are then introduced including PDcontrol with gravity compensation inverse dynamics control robust controland adaptive control Centralized techniques are extended to operational spaceForce control of a manipulator in contact with the working environmentis tackled in Chap 9 The concepts of mechanical compliance and impedanceare de ned as a natural extension of operational space control schemes to theconstrained motion case Force control schemes are then presented which areobtained by the addition of an outer force feedback loop to a motion controlscheme The hybrid force motion control strategy is nally presented withreference to the formulation of natural and arti cial constraints describing aninteraction taskIn Chap 10 visual control is introduced which allows the use of information on the environment surrounding the robotic system The problems ofcamera position and orientation estimate with respect to the objects in thescene are solved by resorting to both analytical and numerical techniquesAfter presenting the advantages to be gained with stereo vision and a suitable camera calibration the two main visual control strategies are illustratednamely in the operational space and in the image space whose advantages canbe e ectively combined in the hybrid visual control schemeWheeled mobile robots are dealt with in Chap 11 which extends somemodelling planning and control aspects of the previous chapters As faras modelling is concerned it is worth distinguishing between the kinematicmodel strongly characterized by the type of constraint imposed by wheelrolling and the dynamic model which accounts for the forces acting on therobot The peculiar structure of the kinematic model is keenly exploited todevelop both path and trajectory planning techniques The control problemis tackled with reference to two main motion tasks trajectory tracking andcon guration regulation Further it is evidenced how the implementation ofthe control schemes utilizes odometric localization methodsChapter 12 reprises the planning problems treated in Chaps 4 and 11for robot manipulators and mobile robots respectively in the case when obstacles are present in the workspace In this framework motion planning isreferred to which is e ectively formulated in the con guration space Severalplanning techniques for mobile robots are then presented retraction cell decomposition probabilistic arti cial potential The extension to the case ofrobot manipulators is nally discussedxiv PrefaceThis chapter concludes the presentation of the topical contents of the textbook ve appendices follow which have been included to recall backgroundmethodologiesAppendix A is devoted to linear algebra and presents the fundamentalnotions on matrices vectors and related operationsAppendix B presents those basic concepts of rigid body mechanics whichare preliminary to the study of manipulator kinematics statics and dynamicsAppendix C illustrates the principles of feedback control of linear systemsand presents a general method based on Lyapunov theory for control of nonlinear systemsAppendix D deals with some concepts of di erential geometry needed forcontrol of mechanical systems subject to nonholonomic constraintsAppendix E is focused on graph search algorithms and their complexity inview of application to motion planning methodsThe organization of the contents according to the above illustrated schemeallows the adoption of the book as a reference text for a senior undergraduate or graduate course in automation computer electrical electronics ormechanical engineering with strong robotics contentFrom a pedagogical viewpoint the various topics are presented in an instrumental manner and are developed with a gradually increasing level of diculty Problems are raised and proper tools are established to nd engineeringoriented solutions Each chapter is introduced by a brief preamble providingthe rationale and the objectives of the subject matter The topics needed for apro cient study of the text are presented in the ve appendices whose purposeis to provide students of di erent extraction with a homogeneous backgroundThe book contains more than 310 illustrations and more than 60 workedout examples and case studies spread throughout the text with frequent resortto simulation The results of computer implementations of inverse kinematics algorithms trajectory planning techniques inverse dynamics computationmotion force and visual control algorithms for robot manipulators and motion control for mobile robots are presented in considerable detail in order tofacilitate the comprehension of the theoretical development as well as to increase sensitivity of application in practical problems In addition nearly 150end of chapter problems are proposed some of which contain further studymatter of the contents and the book is accompanied by an electronic solutions manual downloadable from www springer com 978 1 84628 641 4containing the MATLAB Rcode for computer problems this is available freeof charge to those adopting this volume as a text for courses Special care hasbeen devoted to the selection of bibliographical references more than 250which are cited at the end of each chapter in relation to the historical development of the eldFinally the authors wish to acknowledge all those who have been helpfulin the preparation of this bookWith reference to the original work as the basis of the present textbookdevoted thanks go to Pasquale Chiacchio and Stefano Chiaverini for theirPreface xvcontributions to the writing of the chapters on trajectory planning and forcecontrol respectively Fabrizio Caccavale and Ciro Natale have been of greathelp in the revision of the contents for the second editionA special note of thanks goes to Alessandro De Luca for his punctual andcritical reading of large portions of the text as well as to Vincenzo LippielloAgostino De Santis Marilena Vendittelli and Luigi Freda for their contributions and comments on some sectionsNaples and Rome Bruno SicilianoJuly 2008 Lorenzo SciaviccoLuigi VillaniGiuseppe Oriolo1 Introduction 11 1 Robotics 11 2 Robot Mechanical Structure 31 2 1 Robot Manipulators 41 2 2 Mobile Robots 101 3 Industrial Robotics 151 4 Advanced Robotics 251 4 1 Field Robots 261 4 2 Service Robots 271 5 Robot Modelling Planning and Control 291 5 1 Modelling 301 5 2 Planning 321 5 3 Control 32Bibliography 332 Kinematics 392 1 Pose of a Rigid Body 392 2 Rotation Matrix 402 2 1 Elementary Rotations 412 2 2 Representation of a Vector 422 2 3 Rotation of a Vector 442 3 Composition of Rotation Matrices 452 4 Euler Angles 482 4 1 ZYZ Angles 492 4 2 RPY Angles 512 5 Angle and Axis 522 6 Unit Quaternion 542 7 Homogeneous Transformations 562 8 Direct Kinematics 582 8 1 Open Chain 602 8 2 Denavit Hartenberg Convention 61