ROMANSY 21 - Robot Design, Dynamics and Control (eBook)

Preface 6
Contents 8
Keynote Papers 14
1 Innovations in Infrastructure Service Robots 15
Abstract 15
1 Introduction 16
2 Mobile High-Rise Spray Painting Robot 17
2.1 Motivation 17
2.2 Overall System 18
2.3 Robotic System Realization 19
3 Post-construction Quality Assessment Robot 20
3.1 Motivation 20
3.2 Quality Assessment Methodology 21
3.3 Experimental Results 22
4 Deep Tunnel Sewerage System Inspection Robot 24
4.1 Motivation 24
4.2 Overall System 24
4.3 System Designs 25
5 Conclusions and Discussion 26
Acknowledgments 26
References 27
2 The New Robotics Age: Meeting the Physical Interactivity Challenge 29
Abstract 29
Kinematics for Robotics 31
Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method 32
1 Introduction 32
2 State of the Art 33
2.1 Problem Formulation 33
2.2 WDLS Method with Feedback Correction 34
3 Virtual Redundant Axis Method 35
3.1 VRA at Velocity Level 36
3.2 VRA at Position Level 37
4 Experimental Results 38
5 Conclusions 39
References 39
Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints 41
1 Introduction 41
2 Task Definition 44
3 Null Space Constraints 44
4 Null Space Transport 46
5 Conclusions 47
References 47
5 Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel Manipulator 49
Abstract 49
1 Introduction 49
2 Geometry of the PM 3CCC 50
3 Direct Kinematics 54
4 Conclusions 55
References 55
6 Learning Global Inverse Kinematics Solutions for a Continuum Robot 57
Abstract 57
1 Introduction 57
2 Formulation of the Inverse Kinematics Learning Problem 59
3 Training the Neural Network 60
4 Simulations and Analysis 62
5 Conclusion 63
Acknowledgement 63
References 64
7 A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps 65
Abstract 65
1 Introduction 66
2 Overall Design of WAMOT 67
3 A Study on a New Wheel Shape 67
3.1 A Study of Climbing Steps 67
3.2 A Study of Climbing Slopes 68
3.3 A Study on the Number of Notches 69
3.4 A Study of the Edge Shape of the Notch 71
4 Verification 73
5 Discussion 73
6 Conclusions 74
References 74
Position Kinematics of a 3-underlineRRS Parallel Manipulator 75
1 Introduction 75
2 Position Analysis 76
3 Numerical Example 81
4 Conclusion 81
References 81
9 Kinematic Analysis of a Single-Loop Translational Manipulator 83
Abstract 83
1 Introduction 83
2 Position Analysis 85
3 Instantaneous Kinematics 86
4 Conclusions 88
Acknowledgments 89
References 89
10 A Measure of the Distance Between Two Rigid-Body Poses Based on the Use of Platonic Solids 90
Abstract 90
1 Introduction 90
2 Formulation of the Proposed Distance Metric 92
3 Distance Metric Properties 95
4 Position and Dimension of the Tetrahedron 95
5 Conclusions 97
References 97
Dynamics for Robotics 99
11 Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains 100
Abstract 100
1 Introduction 100
2 Constraints Addition-Deletion in Closed-Loop Mechanisms 101
3 Dahl Friction in Closed-Loop Mechanisms 104
4 Dahl Friction in Flexible Body Models 106
5 Conclusions 107
Acknowledgments 107
References 107
12 Mechanics of Mobile Robots with Mecanum Wheels 109
Abstract 109
1 Introduction 109
2 Kinematics of a Mecanum Wheel 111
3 Dynamic Equations 113
4 Optimization of Driving Torques 114
5 Conclusion 116
Acknowledgments 116
References 116
13 Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA) 118
Abstract 118
1 Introduction 118
2 Shaking Force Balancing 120
2.1 Reaching Similar Accelerations of the End-Effector of the 5R Planar Parallel Manipulator and Its Common Center of Mass 121
2.2 Optimal Control of the Acceleration of the End-Effector of the 5R Planar Manipulator 122
3 Illustrative Example 123
4 Conclusions 126
References 127
An Alternative Approach to the Dynamics Analysis of Closed-Loop Mechanisms 128
1 Introduction 128
2 Displacement and Kinematic Relations 129
3 Dynamics Analysis Based on the NOC 131
3.1 The Mathematical Model of the Mechanism 131
3.2 Derivation of the Twist-Shaping Relations 132
4 Simulation Results 134
5 Conclusions 135
References 136
15 Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture 137
Abstract 137
1 Introduction 137
2 Geometric Relations 139
3 Kinematic Analyses 140
4 Dynamic Analyses 141
5 Results 143
6 Conclusion 145
References 145
Control and Perception of Robots 146
Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters 147
1 Introduction 147
2 Constrained Adaptive Nonlinear Control 148
2.1 Feedback Linearization 148
2.2 Model Predictive Control 149
2.3 Variable Constraint Mapping 149
2.4 Adaptive Control Using Unscented Kalman Filter 150
3 Fuzzy Uncertainty Analysis 151
4 Application: Underactuated Manipulator with Passive Joint 152
5 Conclusion 153
References 154
Control and Experiments with Energy-Saving SCARA Robots 155
1 Introduction 155
2 Design and Control of Energy Saving Manipulator 156
2.1 Design of Energy Saving Manipulator 157
2.2 Control of Energy Saving Manipulator 158
3 A Prototype 2DOF Manipulator and Experimental Results 159
4 Conclusions 162
References 162
Control Design for Pneumatic Manipulation Robot 164
1 Manipulator ManGo 165
2 Control System 165
2.1 Control Structure in Matlab 166
2.2 Machine Vision 166
3 Experiments 169
4 Conclusion 170
References 171
Adaptive Edge Features Estimation for Humanoid Robot Visual Perception 172
1 Instruction 172
2 Related Works 173
3 Adaptive Straight Line Split 174
4 Experimental Results 176
5 Conclusion and Future Works 177
References 178
Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation 179
1 Introduction 180
2 ZMP Regulation 180
2.1 ZMP Modification 181
2.2 Foot Placement with ZMP Increment 183
3 Modification of CoM Trajectory 184
4 Simulations and Experiments 184
4.1 Simulations 184
4.2 Experiments 187
5 Conclusion 187
References 187
Novel Robot Design 189
Human-Powered Robotics---Concept and One-DOF Prototype 190
1 Introduction 190
1.1 Background and Research Purpose 190
1.2 Relevant Studies 191
2 Design and Principle of Operation 192
3 Controller 193
4 Experimental Results 194
5 Conclusions and Future Work 196
References 196
22 Gripping Tests on an Underactuated Self-adapting Hand Prototype 198
Abstract 198
1 Introduction 198
2 The Design of the Hand 200
3 Gripping Tests on the Prototype 202
4 Conclusions 204
References 204
Combined Structural and Dimensional Synthesis of Serial Robot Manipulators 206
1 Introduction 206
2 Generation of Suitable Architectures and Extraction of the Optimisation Parameters 207
3 Kinematics Modelling 209
4 Optimisation Procedure 210
4.1 Performance Indices 211
4.2 Optimisation Problem 211
5 Exemplary Results 212
6 Conclusions 213
References 214
Development of the Acroboter Service Robot Platform 216
1 Introduction 216
2 Concept of the Structural Design 217
3 Dynamic Modelling Approach 218
4 Control Issues 219
4.1 Singularities 219
4.2 Underactuation 220
4.3 Redundancy 220
4.4 Control Algorithm 221
5 Summary 222
References 222
The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis 224
1 Introduction 224
2 Setting, Modelling, and Analysis 225
3 Experiments 229
4 Conclusions and Outlook 231
References 231
Design of a Compliant Environmentally Interactive Snake-Like Manipulator 232
1 Introduction 232
2 Methods 233
2.1 The Compliant Joint 233
2.2 Pseudo Rigid Body Modelling 234
2.3 Finite Element Analysis 235
2.4 Optimization 235
2.5 Prototype 235
3 Experiments 236
3.1 Conditions 236
3.2 Results 237
3.3 Discussion 237
4 Conclusion 238
References 239
Humanoid Robots 240
27 Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human 241
Abstract 241
1 Introduction 242
2 Knee Joint Mechanism Coping with Both Active Pushing-off and Joint Stiffness 243
2.1 Joint Requirements for Running 243
2.2 Design of Knee Joint Mechanism 243
2.3 Design of CFRP Leaf Spring 245
2.4 A Bipedal Robot with the Developed Joint Mechanism 246
3 Evaluation of the Developed Joint Mechanism 246
3.1 Evaluation of CFRP Leaf Spring 246
3.2 Hopping with an Active Pushing-off and Joint Stiffness 247
4 Conclusion 248
Acknowledgements 248
References 248
Design of a Dexterous Hand for a Multi-hand Task 249
1 Introduction 249
2 In-Hand Manipulation and Dexterity 250
3 Dexterous Hand Design Methodology 250
4 Orange Peeler Hand 251
4.1 Motivation 251
4.2 Task Definition 251
4.3 Structural Synthesis 252
4.4 Dimensional Synthesis 253
5 Results and Implementation 254
6 Conclusions 255
References 255
Facial Expression Design for the Saxophone Player Robot WAS-4 257
1 Introduction 258
2 Humanoid Saxophonist Player Robot WAS-4 259
3 Method 260
3.1 Design and Development of the Facial Expressions Mechanism 260
3.2 Facial Expression During Saxophone Performance 260
3.3 Mechanical Movement Specifications 261
3.4 Design of the Eyebrows and Eyelids Mechanisms 262
4 Experiments and Results 262
5 Conclusions 263
References 264
30 Disturbance Force Generator for Biped Robots 265
Abstract 265
1 Introduction 266
2 Mechanical Structure of Disturbance Force Generator 266
2.1 Preliminary Analysis 266
2.2 Mechanical Design 266
3 Control System for Disturbance Force Generator 268
4 Experimental Tests and Consideration 269
5 Conclusions 271
Acknowledgments 271
References 271
31 LARMbot: A New Humanoid Robot with Parallel Mechanisms 273
Abstract 273
1 Introduction 273
2 Parallel Architectures in Human Anatomy 274
3 The LARMbot 275
4 Prototype and Testing 277
5 Conclusions 280
References 280
Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane 282
1 Introduction 282
2 Generalization of DEC Concept to Frontal Plane 284
2.1 The DEC Concept 284
2.2 Lower Body Kinematics 285
3 Experiments 286
4 Results 287
5 Conclusion and Future Work 288
References 288
Compliant Actuator Dedicated for Humanoidal Robot---Design Concept 290
1 Introduction 290
2 Design Considerations on Elastic Actuators 291
2.1 Parameters Selection 292
3 Simulation Research 293
3.1 Control System 293
3.2 Developed Model 294
3.3 Results 294
4 Conclusion and Future Works 295
References 296
Service Robots 298
Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation 299
1 Introduction 300
2 Conceptual Design 301
2.1 Design Specification 301
2.2 Parallel Robot with 2T2R Degree of Freedom 301
3 Kinematic Analysis of the 3UPS-RPU Parallel Robot 302
4 Workspace Analysis 304
5 Conclusion 305
References 305
35 End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder 307
Abstract 307
1 Introduction 308
2 Development of End-Effector 309
3 Calculating the Angle of Each Joint 311
4 Experiments 312
5 Conclusions and Future Works 314
Acknowledgments 314
References 315
Design of a Tendon-Drive Manipulator for Positioning a Probe of a Cooperative Robot System for Fault Diagnosis of Solar Panels at Mega Solar Power Plant 316
1 Introduction 316
2 On-Site Inspection for Detecting a Broken Cell 317
3 Workspace of the Tendon-Drive Parallel Manipulator 319
4 Design of a Robot Based on Vector-Closure 321
5 Conclusion 323
References 323
37 Physical Human-Robot Interaction: Increasing Safety by Robot Arm’s Posture Optimization 324
Abstract 324
1 Introduction 324
2 Null Space Concept in Redundant Robot Arm Kinematics 326
3 Control Design for the Redundant Robot 326
4 Posture Optimization for the Static Impact Force Minimization 328
5 Simulation Test Results 329
6 Conclusions 331
Acknowledgments 331
References 331
Medical Devices 333
38 Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds 334
Abstract 334
1 Introduction 334
2 The 2-D Model and Basic Terminology of Human Walking 335
3 Methods 336
4 Simulation and Results 338
4.1 Investigating Joint Kinematics by Phase Plane Portraits 338
4.2 Investigating First Return Points by Poincaré Maps 340
4.3 Assessing the Orbital Stability by FM 340
5 Conclusions 341
Acknowledgements 341
References 341
39 Development of Rotary Type Movers Discretely Interacting with Supporting Surface and Problems of Control Their Movement 343
Abstract 343
1 Introduction 343
2 Statement of the Problems 345
2.1 Rotary-Orthogonal Mover 346
2.2 Rotary-Pie Mover 347
3 Mathematical Model of Walking Machine Motion Dynamics with Rotary-Orthogonal Movers 347
4 Design Scheme and Quasi-static Mathematical Model of Rotary-Pie Mover When Overcoming the Ledge 349
5 Conclusion 350
References 351
40 Parameter Optimization for Exoskeleton Control System Using Sobol Sequences 352
Abstract 352
1 Introduction 352
2 Model of an Exoskeleton Performing Verticalization 353
3 Control System 354
4 Conclusion 358
Acknowledgments 358
References 359
41 Study of RE-Gait® as the Device That Promotes Walking Using a Two-Dimensional Emotion Map 360
Abstract 360
1 Introduction 361
2 Walking Assistance Apparatus for the Promotion of Exercise 361
3 Walking Promotion Experiment Using a Two-Dimensional Emotion Map 363
4 Conclusions 367
References 367
Developement of Road Condition Categorizing System for Manual Wheelchair Using Mahalanobis Distance 368
1 Introduction 368
2 Road Disturbances for Wheelchair Users 369
3 Wheelchair-Type Road Surface Inspection System 370
4 Characteristics of Time Series Handrim Torque 370
5 Unit Space and Mahalanobis Distance 372
6 Measurement and Calculation 372
7 Conclusion 375
References 375
Control of a Self-adjusting Lower Limb Exoskeleton for Knee Assistance 376
1 Introduction 376
2 Mechanical Design 377
3 Control of the System 379
4 Experimental Result 381
5 Conclusion 382
References 382
Innovations and Applications 384
44 Pilot Experiments with the Human-Friendly Walking Assisting Robot Vehicle (hWALK) 385
Abstract 385
1 Introduction 385
2 Human-Friendly Walking Assisting Robot Vehicle 387
3 Experiments and Results 389
4 Conclusions 391
References 392
45 Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation 393
Abstract 393
1 Introduction 394
2 Composition of the Planar Earthquake Simulator 395
3 Dynamic Simulation 396
4 Simulator Prototype 400
5 Conclusions 400
References 401
Comparison of Dynamic Properties of Two KUKA Lightweight Robots 402
1 Introduction 402
2 Model 403
2.1 Algorithm Formulation 404
2.2 Algorithmic Steps 405
3 Measurements 405
4 Results 406
5 Conclusions 408
References 409
47 Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks 410
Abstract 410
1 Introduction 410
2 Motivation Example 412
3 Performance Measure for Manipulator Accuracy Evaluation 413
4 Comparison of Serial and Quasi-Serial Architectures 414
5 Conclusion 417
References 417
On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots 419
1 Introduction 419
2 The Cable Robots at EXPO 2015 421
3 System Model 422
3.1 Kinematics 422
3.2 Cable Tension Modeling 422
3.3 Dynamics 423
4 Emergency Stop Behavior and Model Validation 423
5 Conclusions 425
References 425
49 Automatic Robot Taping: Strategy and Enhancement 427
Abstract 427
1 Introduction 428
2 Taping Path Planning Strategy 429
2.1 Surface Area Taping Strategy 430
2.2 Modeling of the Taping Process 430
3 Automation of a Robot Tapping System 432
4 Execution of the Taping Process 433
5 Conclusion and Discussion 434
Acknowledgments 435
References 435