CISM COURSES AND LECTURES

Series Editors:

The Rectors of CISM Sandor Kaliszky - Budapest

Mahir Sayir - Zurich Wilhelm Schneider - Wien

The Secretary General of CISM Giovanni Bianchi - Milan

Executive Editor Carlo Tasso - Udine

The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics.

Purpose of the series in to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International

Centre for Mechanical Sciences.

INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES

COURSES AND LECTURES - No. 361

THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS

Proceedings of RoManSy 10: The Tenth CISM-IFToMM Symposium

EDITED BY

A. MORECKI WARSAW UNIVERSITY OF TECHNOLOGY

AND

G.BIANCHI POLYTECHNICAL UNIVERSITY OF MILAN

AND

K.JAWOREK WARSAW UNIVERSITY OF TECHNOLOGY

SPRINGER-VERLAG WIEN GMBH

Le spese di stampa di questo volume sono in parte coperte da

contributi del Consiglio Nazionale delle Ricerche.

This volume contains 237 illustrations

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All rights are reserved,

whether the whole or part of the material is concerned

specifically those of translation, reprinting, re-use of illustrations,

broadcasting, reproduction by photocopying machine

or similar means, and storage in data banks.

© 1995 by Springer-VerlagWien

Originally published by Springer-Verlag Wien New York in 1995

In order to make this volume available as economically and as

rapidly as possible the authors' typescripts have been

reproduced in their original forms. This method unfortunately

has its typographical limitations but it is hoped that they in no

way distract the reader.

ISBN 978-3-211-82697-3 ISBN 978-3-7091-2698-1 (eBook)

DOI 10.1007/978-3-7091-2698-1

PREFACE

The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the ten symposia to date present a world view of the state of the art, including a unique record of the results achieved in central and eastern Europe.

RoManSy /0, held September 12-15, 1994 in Gdansk, Poland was attended by 64 participants from seventeen countries.

The proceedings of this tenth edition of RoManSy focus mainly on problems of mechanical engineering and control.

In his opening lecture, A. Morecki reviews the history of the symposia and examines the main trends, past, present and future, of research in robotics.

The fifty-one papers illustrate significant contributions in mechanics (ten papers), control of motion (fourteen), synthesis and design (fourteen), applications and performance evaluation (four), sensing and machine intelligence (three), and the biomechanical aspects of robots and manipulators (six). They appear here in the order and form in which they were presented in the various working sessions.

RoManSy 11 will be held in Udine, Italy in September 1996.

The Editors express their thanks to A. Ferenc of the Warsaw University of Technology for his help in the preparation of this manuscript.

A. Morecki G. Bianchi K. laworek

CONTENTS

Page Preface

In Memory of Ichiro Kato ................................................................................................... XI

Opening Lecture Past, Present and Future by A. Morecki ................................................................................................................... 1

PART I: Mechanics I

Position Analysis of the Rhombic Assur Group by K. Wohlhart ., .............................................................................................................. 21

A New Method for the Inverse Kinematics by S. Regnier, C. Vougny, F. Ben Ouezdou and D. Duhaut .......................................... 33

An Algebraic Formulation for the Workspace Determination of General 4R Manipulators

by M. Ceccarelli ....................................................................... ....................................... 3Y

Discrete Calculation of Set Points in Mechanism Motion Control by K. Nevala and T. Leinonen ........................................................................................ .49

PART II: Mechanics II

Analysis of the Acceleration Characteristics of Manipulators by A. Bowling and O. Khatib ........................................................................................... 59

Dynamics of Elastic Robot Arms with Varying Length -Systematic Modelling, Simulation and Control by D. Sojjker .................................................................................................................... 65

PART III: Mechanics III

An Application of the Rigid Finite Element Method to Modelling of Flexible Structures by E. Wittbrodt and S. Wojciech ...................................................................................... 73

Sensitivity Analysis of Multibody Systems A New Approach Based on the Concept of Global Inertia by F. Pfister. M. Fayet and A. Jutard .............................................................................. 79

Singularity Analysis of Spherical Parallel Manipulators by H.R.M. Daniali. P.J. Zsombor-Murray and J. Angeles ............................................. 85

Dynamics of Evolving Systems by A. Barraco and B. Cuny ............................................................................................. 91

viii Contents

PART IV: Control of Motion I

Anthropomorphic Telemanipulation System in Terminus Control Mode by B.M. Jau, M.A. Lewis and AK. Bejczy ..................................................................... 101 Path Planning of Redundant Manipulator and Determination of its Configuration on Bending Elastic Plate Spring by R. Katoh, T. Fujimoto and T. Yamashita ................................................................. 113

Redundancy Resolution for Two Cooperative Spatial Manipulators with a Sliding Contact by P. Chiacchio, S. Chiaverini and B. Siciliano ............................................................ 119

Compliance Control of Direct Drive Manipulator Using Ultrasonic Motor by A Kato, N. Kondo, H. Narita, K. Ito and Z. W. Luo ................................................. 125

Optimal Efficiency of a Robot Environment Interaction Task in a Matching Impedance Approach by G.A Ombede, J.P. Simon, M. Betemps and A Jutard ............................................. 131

Modelling and Control of Constrained Robots by K.A Tahboub and P.e. Muller ................................................................................ 143

Impedance Control of an Industrial Manipulator in a Dual Arm Assembly Cell by G. Morel and Ph. Bidaud ......................................................................................... 153

PART V: Control of Motion II

Modelling and Control Synthesis of Flexible Multibody Systems by J. Haug and W. Schiehlen ......................................................................................... 163

Contribution to the PositionIForce Control of a Robot Interacting with Dynamic Environment in Cartesian Space by M. Vukobratovic and R. Stojic .................................................................................. 171

Inverse Dynamics Approach for Invariant Control of Constrained Robots by K.P. Jankowski and H.A. EIMaraghy ...................................................................... 177

Simulation Experiments with Fuzzy Logic-Based Robot Control by M. Vukobratovic and B. Karan ................................................................................. 187

Application of Neural Nets for Control of Robotic Manipulators by T. Uhl and M. Szymkat ............................................................................................. 193

A Structure and Principle of Operation of the Adaptive Control System of the Underwater Vehicle Motion by Z. Kitowski and J. Garus .......................................................................................... 20 1

Parallel Computation and Control Method for Dynamic Motion Control of Robot by Utilizing Digital Signal Processor (DSP) by Y. Sankai ................................................................................................................... 211

Contents IX

PART VI: Synthesis and Design I

Analysis and Design of Position/Orientation Decoupled Parallel Manipulators by S.P. Patarinski t and M. Uchiyama ........................................................................... 219

Parallel Manipulators with Controlled Compliance by D. Chakarov ............................................................................................................. 225 A Multiobjective Optimisation Approach to Robot Kinematic Design by A.P. Pashkevich and D.E. Khmel ............................................................................. 231

Development of Robotic Surgical Instruments by Y. Louhisalmi and T. Leinonen ................................................................................. 241

Optimization of Kinematics Performances of Manipulators Under Specified Task Conditions by S. Zeghloul, B. Blanchard and J.A. Pamanes .......................................................... 247

PART VII: Synthesis and Design II

Dynamic Testing of Space Manipulators by M.R. Kujath and U.O. Akpan ................................................................................... 255

Design of a Manipulator for Planetary Rovers by O. Gaudry, F. Pierrot, E. Dombre and A. Liegeois ................................................. 261

The Design and Control of a Novel Robot Structure with Differential Drive Units by P.M. Taylor, J.e. Kieffer, A.J. Wilkinson, J.M. Gilbert, Q. Guo, J. Grindley and R. Oldaker ............................................................................. 269

Development of a Synchronous Motor with Three Degrees of Freedom by T. Yano, M. Kaneko and M. Sonoda ........................................................................ 275

Design of the Fast Manipulator with Elimmated Joint Limits and Reduced Dynamic Interactions by K. Nazarczuk ............................................................................................................ 281

PART VIII: Synthesis and Design III

Micro-Robot with Integrated Parallel Links by K. Matsushima and K. Nishi .................................................................................... 289

The Modelling of a Hand with 16 Degrees of Freedom Integrating Surfacic Elastic Contacts by J.N. Gaborieau, M. Arsicault and J.P. Lallemand ................................................... 295

Methodical Design of New Parallel Robots Via the Lie Group of Displacements by J.M. Herve and F. Sparacino ................................................................................... 301

Vibration Control of a One Link Flexible Arm: Experimental Results by M.M. Gola and A. Soma ........................................................................................... 307

PART IX: Sensing and Machine Intelligence

Sensor-Based Reactive Robot Control

Contents

by C. Zielinski and T. Zielinska ..................................................................................... 315

Sensing the Position of a Remotely Operated Underwater Vehicle by E. Kreuzer and F.C. Pinto ...................................................................................... .323

Micro-Energy Flow Beam-Shaped Microactuators and Sensors by K. ltao, H. Hosaka and H. Ukita ...........•.................................................................. 329

PART X: Applications and Performance Evaluation

Application of Polymer Gel to Micro-Actuator by T. Hayashi and K. Yoshida ...................................................................................... 337

History-Dependent Assembly Planning by R. Caracciolo, E. Ceresole, F. Fanton and A. Rossi ............................................... 343

Robotic Deburring Task Design Based on the Nature of Burr by M. Mizukawa, E. Mitsuya, S. Ohara, S. lwaki, S. Matsuo, T. Shakunaga and T. Okada ......................................................................................... .349

Numerical Modelling of a Floating Robot by R. Koscielny .............................................................................................................. 357

PART XI: Biomechanical Aspects of Robots and Manipulators

Development of Actively Controlled Electro-Hydraulic Above-Knee Prostheses by M.S. Ju, Y.F. Yang and T.e. Hsueh ......................................................................... 367

Investigation of Terrain Adaptive Control for a Walking Machine Motion by A. V. Bogutsky ........................................................................................................... 373

Design of the Program Regime for Biped Walking Anthropomorphic Apparatus by V.M. Budanov and E.K. Lavrowsky ......................................................................... 379

Impulsive Control for Anthropomorphic Biped by A.M. Formalsky ....................................................................................................... .387

Estimating Power of Walking: Methods and Instrumentation by K. Jaworek and A. Ferenc ........................................................................................ 395

CAD/CAM and Robotics: A Bioengineering Application in Bone Prosthesis Realization by X. Wen, A. Rovetta and K. Lucchesi Cavalca ......................................................... ..407

Programme and Organizing Committee ....................................................................... 417

Participants .................................................................................................................... 419

In Memory of Ichiro Kato

Ichiro Kato

was born in Chiba Prefecture (Tateyama City) on May 2nd 1925

ICHIRO KATO

Ichiro Kato began his studies of robotics over thirty years ago. His work on artificial arms and hands dates from 1967, and incorporates the technological assets gained from developing active prostheses, a program initiated three years earlier. At first his aim was to develop machines that could replace persons in the performance of manual labor, and concentrated on the development of artificial hand mechanisms. More recently, this objective had been extended to develop robots which can perform intelligent work as well as manual labor.

The emphasis in the laboratory has always been on developing robotics with a target of twenty to thirty years and themes themes on the basis of the belief that the twenty-first century will be an era of personal robots and cyborgs. Consequently Kato became very interested not only in the function of robots, but in their physical form as well. His endeavors have not been limited to the manufacturing sector, but have included tertiary industries and the medical field as well.

WAM-l was first developed in 1967; it used WASEDA-type artificial muscles of rubber and featured seven degrees of freedom (DOF), four in the hand and three in the arm. In 1969 the computer-controlled W AM-2, with five electrically activated DOF in the arm was assembled. A further refinement, WAM-3, was developed in 1970. Both WAM-2 and WAM-3 had position sensors and pressure sensors on their fingers, so that they could automatically grasp and transport objects.

If, as forecasts say, robots will penetrate society in the twenty-first century, substituting human labor in industrial and service sectors, they should be able to deal with information as well as a person does. The anthropomorphic intelligent robot W ABOT (W Aseda roBOT) was undertaken to create a "personal robot" which resembled a person as much as possible.

Four laboratories in the Waseda University School of Science and Engineering joined to set up "The Bioengineering Group", which began the WABOT project in 1970. Kato's laboratory was in charge of the system of artificial limbs and their control.

Many different models of biped walking robots were built and tested (WL-l, WL-3, WAP­I, WAP-2, WAP-3, WL-5, WL-9DR, WL-lODR, WL-I0RD). The development of a software system for the anlysis and design of universal multi-link systems was undertaken in 1979. CAD systems for artifical limbs (1980-1981), CAD systems for robotics (1982-1983), a CAD composition system for walking pattern - Walk Mater-2 (1984): these are a few examples of his investigations of biped locomotion.

Kato also made numerous contributions to biomedical engineering. There are the many models and prototypes of his EMG-controlled upper limb prosthesis, the Multifunctional NK Prosthesis, the PES Automatic Palpation System for the diagnosis of breast cancer. ..

At the International Science and Technology Exposition in 1985 on the theme of Dwelling Surroundings: Science and Technology for Man at Home, three robots were demonstrated at the "Man and Scientific Technology" area in the pavillion of the Japanese government. These were a quadruped walking robot, a biped walking robot, and a robot that played a keyboard instrument, in an implicit evocation of human evolution.

xiv In Memory of Ichiro Kato

Both the biped walking robot WHL-ll and the robot musician W ASUBOT were developed from ~tudies conducted in Kato's laboratory. They quickly became a center of attention as ~umbols of the most advanced technology in robotics.

The WASUBOT performed with the Symphony Orchestra of the Japan Broadcasting Corporation NHK. playing the Bach Aria on the G-string.

Ichiro Kato's principal ~tudies after 1985 focused on the creation of piano-playing mobile manipulators and the Multifunctional Active AJK Prosthesis.

His contributions to the science of robotics. in the areas of medical manipulators, FES, and bioelectrical control are acknowledged throughout the world.

He published many books and papers in these fields, and was the supervisor of many M.Sc. and Ph.d. dissertations.

He wa~ the founder of the Japanese Society for Biomechanisms. a Member and Chairman of many ISIR and ICAR Symposia.

He was also an active member of the Japanese IFToMM Committee, and one of the founders of the RoManSy Symposia.

Today. together with our sorrow and sense of loss. remains the memory of his outstanding personality. of his excellence in engineering. science. and design. and may I add, for all who had the honor and pleasure to work with him. of a warm and valued friendship.

A. Morecki