Computing techniques for robots

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Computing techniques for robots

edited by Igor Aleksander

Kogan Page, Jan.1985

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Description and Table of Contents

Description

I. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be powerful enough to think only in tool coordinates. That is, a programmer concerns himself only with the tool on the end of the robot arm. He can think of the tool's frame of reference and com- puter subroutines automatically make the various articulations move so as to accomplish the desired tool manipulation. ' As is often the case with statements of this kind, they are appealing and generally well-founded in technological feasibility. But in order to turn the prediction into reality it requires the dedication and in- ventiveness of an international community of researchers. The object of this book is to provide a window on to some of the advances made by this community which go towards the fulfilment of Engelberger's predictions. A significant factor in the framework within which this work is being pursued is the phenomenal advance in the availability of inex- pensive and highly compact computing power. It becomes increas- ingly possible to imagine powerful microprocessors providing local intelligence at key points in a robot arm Uoints, gripper, etc) by being connected through a communications network and controlled by some specially designated supervisory microchip.

Table of Contents

  • 1 Introduction.- Robotic Practice 10
  • Exploiting Mathematics 11
  • Making Sense of Sensors 12
  • Computing for Design 13
  • Future Directions 14.- I: Sensor Information Processing.- 2 A method for grasping randomly oriented objects using touch sensing.- 18
  • Theory 19
  • Development of Sensors and Techniques 22
  • Examples of Applications 26
  • Programming 30
  • Error Recovery 31
  • An Outline Design for a Gripper with Touch Sensing 33
  • Conclusions 33.- 3 Method of contour recognition.- 37
  • The Method of Automatic Detection of Objects 38
  • The Method of Automatic Removal of Isolated Disturbances 43
  • The Method of Derivation of Contours 44
  • The Method of Recognizing Contours Detected 46
  • Discussion 49.- 4 The design of sensors for a mobile teleoperator robot.- -Teleoperator and Industrial Robotics 58
  • On the Proper Interface between Man and Machine 60
  • The QMCAI Mark 5 Robot 60
  • The Interface between Robot Hardware and Computer 64
  • Low-level Robot Control Software 66
  • The Sensor System 67
  • Layout of the Electronic Subsystems 81
  • Conclusions 81
  • Acknowledgements 83.- II: Mathematical Concerns.- 5 Constrained average path tracking for industrial robots.- 88
  • Equation of Motion for Mechanical Manipulator 90
  • Discrete-time Model of Manipulator 91
  • Estimation of Parameters 92
  • Path-Tracking Controller 96
  • Desired Joint Path 97
  • Concluding Remarks 98
  • Acknowledgement 99.- 6 The application of spline functions to trajectory generation for computer-controlled manipulators.- 102
  • Analysis 104
  • Discussion 109
  • Acknowledgement 110.- 7 Kinematic equations of robot manipulators.- 112
  • Geometric Modelling of a Manipulator 114
  • Kinematic Modelling of a Manipulator 123
  • Conclusion 129.- 8 Solution of kinematic equations for robot manipulators.- 131
  • Coordinate System of Robot Arm 132
  • Solution of Arm Motion 133
  • Solution of Wrist Motion 138
  • Solution for Robot Manipulators 143
  • Example: RRR Arm with a Modified Euler Wrist 145
  • Conclusion 147.- III: Practical Concerns.- 9 A strategy to achieve an assembly by means of an inaccurate, flexible robot.- 152
  • The Hypotheses of Work 153
  • Assembly Achievement 155
  • Experimentation 167
  • Conclusion 176.- 10 Trajectory planning for a multi-arm robot in an assembly task.- 179
  • Definitions and Hypotheses 180
  • Environment Modelling 183
  • The Path Search 185
  • Experimentation 187
  • Conclusion 195.- 11 Cooperation of two manipulators in assembly tasks.- 197
  • A Functional Classification of Assemblies Using Two Arms 198
  • Description of the Experiments Carried Out 203
  • Problems Set by Using Two Arms 211
  • Conclusion 214.- IV: Computer Aids to Robot Design.- 12 A CAD system for programming and simulating robots' actions.- 223
  • The Robotic Facilities of CATIA 223
  • Using the Robotic Facilities 232
  • Conclusion 237
  • Acknowledgements 246.- 13 The development of a suite of programs for the analysis of mechanisms.- 249
  • Program Outline 250
  • Proposed Method of Operation 253
  • Procedural Example 254
  • Conclusions 276
  • Acknowledgements 276.

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