Robotics and Automation Handbook.pdf

ROBOTICS AND

AUTOMATION HANDBOOK

E DITED BY

Thomas R. Kurfess Ph.D., P.E.

CRC PRESS

Boca Raton London New York Washington, D.C.

Library of Congress Cataloging-in-Publication Data

Robotics and automation handbook / edited by Thomas R. Kurfess.

p. cm.

Includes bibliographical references and index.

ISBN 0-8493-1804-1 (alk. paper)

1. Robotics--Handbooks, manuals, etc. I. Kurfess, Thomas R.

TJ211.R5573 2000

629.8’92—dc21

2004049656

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Preface

Robots are machines that have interested the general population throughout history. In general, they are

machines or devices that operate automatically or by remote control. Clearly people have wanted to use

such equipment since simple devices were developed. The word robot itself comes from Czech robota ,

“servitude, forced labor,” and was coined in 1923 (from dictionary.com). Since then robots have been

characterized by the media as machines that look similar to humans. Robots such as “Robby the Robot”

or Robot from the Lost in Space television series deﬁned the appearance of robots to several generations.

However, robots are more than machines that walk around yelling “Danger!” They are used in a variety of

tasks from the very exciting, such as space exploration (e.g., the Mars Rover), to the very mundane (e.g.,

vacuuming your home, which is not a simple task). They are complex and useful systems that have been

employed in industry for several decades. As technology advances, the capability and utility of robots have

increased dramatically. Today, we have robots that assemble cars, weld, ﬂy through hostile environments,

and explore the harshest environments from the depths of the ocean, to the cold and dark environment of

the Antarctic, to the hazardous depths of active volcanoes, to the farthest reaches of outer space. Robots

take on tasks that people do not want to perform. Perhaps these tasks are too boring, perhaps they are too

dangerous, or perhaps the robot can outperform its human counterpart.

This text is targeted at the fundamentals of robot design, implementation, and application. As robots

are used in a substantial number of functions, this book only scratches the surface of their applications.

However, it does provide a ﬁrm basis for engineers and scientists interested in either fabrication or utilizing

robotic systems. The ﬁrst part of this handbook presents a number of design issues that must be considered

in building and utilizing a robotic system. Both issues related to the entire robot, such as control and

trajectory planning and dynamics are discussed. Critical concepts such as precision control of rotary and

linear axes are also presented at they are necessary to yield optimal performance out of a robotic system. The

book then continues with a number of specialized applications of robotic systems. In these applications,

such as the medical arena, particular design and systems considerations are presented that are highlighted

by these applications but are critical in a signiﬁcant cross-section of areas. It was a pleasure to work with

the authors of the various sections. They are experts in their areas, and in reviewing their material, I have

improved my understanding of robotic systems. I hope that the readers will enjoy reading the text as much

as I have enjoyed reading and assembling it. I anticipate that future versions of this book will incorporate

more applications as well as advanced concepts in robot design and implementation.

The Editor

Thomas R. Kurfess received his S.B., S.M., and Ph.D. degrees in mechanical engineering from M.I.T. in

1986, 1987, and 1989, respectively. He also received an S.M. degree from M.I.T. in electrical engineering

and computer science in 1988. Following graduation, he joined Carnegie Mellon University where he rose

to the rank of Associate Professor. In 1994 he moved to the Georgia Institute of Technology where he is

currently a Professor in the George W. Woodruff School of Mechanical Engineering. He presently serves

as a participating guest at the Lawrence Livermore National Laboratory in their Precision Engineering

Program. He is also a special consultant of the United Nations to the Government of Malaysia in the area

of applied mechatronics and manufacturing. His research work focuses on the design and development

of high precision manufacturing and metrology systems. He has chaired workshops for the National

Science Foundation on the future of engineering education and served on the Committee of Visitors for

NSF’s Engineering Education and Centers Division. He has had similar roles in education and technology

assessment for a variety of countries as well as the U.N.

His primary area of research is precision engineering. To this end he has applied advanced control theory

to both measurement machines and machine tools, substantially improving their performance. During

the past twelve years, Dr. Kurfess has concentrated in precision grinding, high-speed scanning coordinate

measurement machines, and statistical analysis of CMM data. He is actively involved in using advanced

mechatronics units in large scale applications to generate next generation high performance systems. Dr.

Kurfess has a number of research projects sponsored by both industry and governmental agencies in this

area. He has also given a number of workshops, sponsored by the National Science Foundation, in the

areas of teaching controls and mechatronics to a variety of professors throughout the country.

In 1992 he was awarded a National Science Foundation Young Investigator Award, and in 1993 he

received the National Science Foundation Presidential Faculty Fellowship Award. He is also the recipient

of the ASME Pi Tau Sigma Award, the SME Young Manufacturing Engineer of the Year Award, the ASME

Gustus L. Larson Memorial Award and the ASME Blackall Machine Tool and Gage Award. He has received

the Class of 1940 W. Howard Ector’s Outstanding Teacher Award and the Outstanding Faculty Leadership

for the Development of Graduate Research Assistants Award while at Georgia Tech. He is a registered

Professional Engineer, and is active in several engineering societies, including ASEE, ASME, ASPE, IEEE

and SME. He is currently serving as a Technical Associate Editor of the SME Journal of Manufacturing

Systems , and Associate Editor of the ASME Journal of Manufacturing Science and Engineering. He has served

as an Associate Editor of the ASME Journal of Dynamic Systems, Measurement and Control .Heisonthe

Editorial Advisory Board of the International Journal of Engineering Education , and serves on the board of

North American Manufacturing Research Institute of SME.

Contributors

Mohan Bodduluri

Restoration Robotics

Sunnyvale, California

Darren M. Dawson

Clemson University

Electrical and Computer

Engineering

Clemson, South Carolina

Hector M. Gutierrez

Florida Institute of Technology

Department of Mechanical and

Aerospace Engineering

Melbourne, Florida

Wayne J. Book

Georgia Institute of Technology

Woodruff School of

Mechanical Engineering

Atlanta, Georgia

Bram de Jager

Technical University of

Eindhoven

Eindhoven, Netherlands

Yasuhisa Hirata

Tohoku University

Department of Bioengineering

and Robotics

Sendai, Japan

StephenP.Buerger

Massachusetts Institute of

Technology

Mechanical Engineering

Department

North Cambridge,

Massachusetts

Jaydev P. Desai

Drexel University

MEM Department

Philadelphia, Pennsylvania

Neville Hogan

Massachusetts Institute of

Technology

Mechanical Engineering

Department

North Cambridge,

Massachusetts

Jeanne Sullivan Falcon

National Instruments

Austin, Texas

Keith W. Bufﬁnton

Bucknell University

Department of Mechanical

Engineering

Lewisburg, Pennsylvania

Daniel D. Frey

Massachusetts Institute of

Technology

Mechanical Engineering

Department

North Cambridge,

Massachusetts

Kun Huang

University of Illinois at

Urbana-Champagne

Coordinated Sciences

Laboratory

Urbana, Illinois

Francesco Bullo

University of Illinois at

Urbana-Champaign

Coordinated Science

Laboratory

Urbana, Illinois

Hodge E. Jenkins,

Mercer University

Mechanical and Industrial

Engineering Department

Macon, Georgia

Robert B. Gillespie

University of Michigan

Ann Arbor, Michigan

Gregory S. Chirikjian

Johns Hopkins University

Department of Mechanical

Engineering

Baltimore, Maryland

J. William Goodwine

Notre Dame University

Aerospace and Mechanical

Engineering Department

Notre Dame, Indiana

Dragan Kostic

Technical University of

Eindhoven

Eindhoven, Netherlands

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