Index

A

A465, 11-4AABB, 23-18ABB, 1-8Abbe error (sine error), 13-5fAbbe principle, 13-4–5Absolute coordinates

of vector x, 2-3Absolute coordinate system, 20-3fAbsolute encoders, 12-3

example, 12-3fAcceleration control for payload limits, 11-18Accelerations, 4-9, 12-9–10

of center of mass, 4-6online reconstruction of, 14-9–10

Acceptance procedures, 10-2Accuracy, 13-3f

definition of, 13-2–3AC&E’s CimStation Robotics, 21-7, 21-8ACS, 24-36f, 24-37fActive touch, 23-9, 23-11Activity of force F, 6-4Activity principle, 6-4Actuator forces, 19-2fActuators, 12-12–18, 13-17ADAMS

Kane’s method, 6-27Adaptive command shaping (ACS), 24-36f, 24-37fAdaptive feedback linearization, 17-16–18Adjoint

Jacobian matrices, 2-12Adjoint transformation, 5-3Admittance regulation

vs. impedance, 19-9–10Advanced feedback control schemes, 24-29–31

with observers, 24-30–31obstacles and objectives, 24-29–30passive controller design with tip position feedback,

24-31sliding mode control, 24-31strain and strain rate feedback, 24-31

Advanced process control fieldbuses, 26-11Affine connection, 5-10

Affine projection, 22-4AI, 1-5AIBO, 1-11AIC, 1-5Aliasing, 13-9–10

frequency-domain view of, 13-10fAlignment errors, 13-4–5Al Qaeda, 1-10Ambient temperature, 10-2American Machine and Foundry, 1-7AMF Corporation, 1-7Analog displacement sensors, 12-4–5Analog photoelectric, 12-7Analog sensors, 12-4–10, 13-18–19

analog filtering, 13-19fAnalog-to-digital conversion, 13-11Analyzing coupled systems, 19-8–9Angular error motions, 10-6t, 10-9fAngular velocity

and Jacobians associated with parametrized rotations,2-8–10

ANSI Y14.5M, 10-3Anticipatory control, 23-12–13Approximations, 24-25ARB IRB1400, 17-2fAristotle, 23-10ARMA, 14-13Arm controller

robot end effector integrated into, 11-4fArm degrees of freedom augmentation, 24-39–41

bracing strategies, 24-39inertial damping, 24-40piezoelectric actuation for damping, 24-41

Articulating fingers, 11-11Artificial intelligence (AI), 1-5Artificial Intelligence Center (AIC), 1-5ASEA, Brown and Boveri (ABB), 1-8ASEA Group, 1-8Asimov, Isaac, 1-3–4, 1-4, 1-6Asimov, Janet Jeppson, 1-4Asimov, Stanley, 1-4Assembly task

two parts by two arms, 20-10Augmented dynamics-based control algorithm, 20-7, 20-7f

I-1

I-2 Robotics and Automation Handbook

Augmented reality, 23-3AUTOLEEV

Kane’s method, 6-27Automated system

forming leads on electronic packages, 10-13fleads location, 10-14f

Automatic calculator invention, 1-2Automatic rifle, 1-2Automatic symmetry cell

detection, matching and reconstruction, 22-18–21Automaton, 1-3Autoregressive moving-average (ARMA), 14-13Axis, 5-3Axis-aligned bounding boxes (AABB), 23-186-axis robot manipulator with five revolute joints, 8-13

B

Babbage, Charles, 1-2Backward recursion, 4-2Ball races, 12-13Bar elements

distributed, 24-15Bares, John, 1-7Bargar, William, 1-10Bars and compression, 24-5Base frame, 2-3, 17-3Base parameter set (BPS), 14-5

batch LS estimation, 14-7–8element estimation, 14-7–8estimation, 14-19–21online gradient estimator, 14-8

Batch LS estimationof BPS, 14-7–8

BBN criteria, 13-15Beam elements in bending

distributed, 24-15–16Beams and bending, 24-6–7Bending deformation

geometry of, 24-6fBending transfer matrix, 24-16fBernoulli-Euler beam model, 6-21Bernoulli-Euler beam theory, 6-16Bezout identity, 17-14Bilateral or force-reflecting teleoperator, 23-2Body, 5-3–4Body-fixed coordinate frame, 5-1Body manipulator Jacobian matrix, 5-5Bolt Beranek & Newman (BBN) criteria, 13-15Bond graph modeling, 4-2BPS. See Base parameter set (BPS)Bracing strategies

arm degrees of freedom augmentation, 24-39Bridge crane example, 9-4–6Broad phase, 23-18–19Brooks, Rodney, 1-10Brown Boveri LTD, 1-8Buckling, 24-7–9Building

reconstruction, 22-21f

C

Cable-driven Hexaglide, 9-1Cable management, 13-7CAD and graphical visualization tools, 21-1Cadmus, 1-1Calibration cube

four images used to reconstruct, 22-12ftwo images, 22-7ftwo views, 22-7f

Camera calibration, 22-4Camera model, 22-2–3Camera poses

cell structure recovered, 22-21fCAN, 26-10Capacitive displacement sensors, 12-5–6

distance and area variation in, 12-6fCapek, Jose, 1-3Capek, Karel, 1-3Carl Sagan Memorial Station, 1-9Carnegie Mellon University, 1-7Cartesian error, 15-22fCartesian manipulator

stiffness control of, 16-5–6Cell structure recovered

camera poses, 22-21fCentrifugal forces, 4-8Centrifugal stiffening, 6-14Characterizing human user

haptic interface to virtual environments, 23-5Chasles’ Theorem, 2-5, 2-6, 5-3Chatter free sliding control, 18-4–6Chemical process control, 26-18fChristoffel symbols, 5-8, 5-10

of first kind, 17-5CimStation Robotics, 21-2CimStation simulated floor, 21-2fCincinnati Milacron Corporation, 1-8Closed-form equations, 4-7–8Closed-form solutions

vs. recursive IK solutions, 14-18fClosed kinematic chains, 24-10Collision detection, 23-17, 23-18–19Collision detector, 23-17

flowchart, 23-18fCollision sensors, 11-17Column buckling, 24-8Combinations of loading, 24-7–9Combined distributed effects and components, 24-16Command generation, 9-4Command shaping filter, 24-34Common velocity

bond graph, 19-8f, 19-9ffeedback representation, 19-8f, 19-9f

Compensation based on system models, 23-15Compliance based control algorithm, 20-6, 20-6fCompliant support of object, 20-8fComposition of motions, 2-5Compressed air, 11-8Compression

and bars, 24-5

Index I-3

Computational complexity reduction, 24-27Computed torque, 17-8Computed-torque control design, 15-5–6Computejacobian.c, 3-18, 3-23–24Conductive brushes, 12-15Configuration, 5-2

infinite numberswith none, 3-3fwith one, 3-3f

Configuration space, 17-3Consolidated Controls Corporation, 1-5Constrained Euler-Lagrange equation

geometric interpretation, 5-12Constrained layer dampers, 13-15Constrained systems, 5-11–13Constraint(s), 13-6

Kane’s method, 6-14Constraint connection, 5-12Constraint distribution, 5-12Constraint forces and torques

between interacting bodies, 7-15–16, 7-15fContents description, 24-2Continuously elastic translating link, 6-17fContinuous motion, 22-8Continuous system

Kane’s method, 6-16Control, 24-27Control algorithms, 13-19–21Control architecture, 17-7Control bandwidth, 15-2Control design, 16-5–6, 16-6–8, 16-12–14

with feedback linearization, 15-6–10method taxonomy, 17-6–8µ-synthesis feedback, 15-16–19

Control efforttracking of various frequencies

with feedforward compensation, 9-20fwithout feedforward compensation, 9-17

Controller(s)experimental evaluation, 15-19–21implementation, 13-16–17networks, 26-11–12selection of, 26-13

Controller area network (CAN), 26-10ControlNet, 26-11, 26-12Control system design, 17-8Conventional controllers

bode plots of, 15-14fCoordinated motion control

algorithm, 20-7–9based on impedance control law, 20-7–10of multiple manipulators

for handling an object, 20-5–7problems of multiple manipulators, 20-5–7

Coordinate frames, 8-3, 8-13schematic, 8-3

Coordinate measuring machinedeflection of, 9-3f

Coordinate systems, 20-3fassociated with link n, 4-3f

Coriolis centrifugal forces, 5-8

Coriolis effect, 4-7Coriolis force, 4-8Coriolis matrix, 5-8Corless-Leitmann approach, 17-14Correlation among multiple criteria, 10-13–14Cosine error

example of, 13-4fCosmosMotion, 21-10

cost, 21-10Coupled stability, 19-10–13Coupled system stability analysis, 19-10Couples systems poles

locus of, 19-13fCovariant derivative, 5-10CPS

of tracking errors, 15-20Craig notation and nomenclature, 3-3Crane response to pressing move button, 9-5fCrane response to pressing move button twice, 9-5fCritical curve, 10-16

calculating points on, 10-18fCritical surface, 22-8Cross-over frequencies, 15-18tCtesibus of Alexandria, 1-2Cube

reconstruction from single view, 22-17fCube drawing

example, 21-12Cumulative power spectra (CPS)

of tracking errors, 15-20Cutting tool, 10-16f

envelope surface, 10-16fas surface of revolution, 10-17fswept volume, 10-16f

CyberKnife stereotactic radiosurgery system, 25-6–9, 25-7faccuracy and calibration, 25-9computer software, 25-8–9patient positioning, 25-8patient safety, 25-9radiation source, 25-7robotic advantage, 25-9robot manipulator, 25-7stereo x-ray imaging system, 25-8treatment planning system for, 25-8, 25-8f

D

DADS, 21-10Damping, 24-4–5

inertialarm degrees of freedom augmentation, 24-40three axis arm as micromanipulator for, 24-41f

inertial controllerquenching flexible base oscillations, 24-41f

passive, 24-39, 24-40fsectioned constraining layer, 24-39f

piezoelectric actuation forarm degrees of freedom augmentation, 24-41

Dante, 1-7Dante II, 1-7DARPA, 1-6

I-4 Robotics and Automation Handbook

Dartmouth Summer Research Project on ArtificialIntelligence, 1-6

Da Vinci Surgical System, 1-11, 25-9–10, 25-10fDC brushless motor, 12-16DC brush motor, 12-15–16, 12-15fDecentralized conventional feedback control, 15-3–5Decentralized motion control

with PD feedback and acceleration feedforward, 15-4fDecentralized PD, 15-2

controllerscontrol torques produced with, 14-23f

Defense Advanced Research Projects Agency (DARPA), 1-6Deformable bodies mechanics, 24-2–3DEMLIA’s IGRIP, 21-7Denavit-Hartenberg (D-H), 8-1

approach, 3-4convention, 8-1–21

examples, 8-8–21frame assignment, 3-8framework, 2-7notation, 21-7parameters, 3-11–13, 8-1–5

C-code, 3-18, 3-29–30determining for Stanford arm, 8-13example PUMA 560, 3-11tflow chart, 8-5f–6fschematic, 8-4fsystematic derivation, 8-4

pathology, 2-7procedure, 3-4representation, 21-14transformation, 4-1

Density, 24-4Desired object impedance, 20-8fDetent torque, 12-14Determinism, 13-4Device-level networks, 26-10–11DeviceNet, 26-10Devol, George C., 1-4–5Dexterity, 20-2fD-H. See Denavit-Hartenberg (D-H)Dh.dat, 3-18, 3-28Different image surfaces, 22-4Digital sensors, 12-10–12

common uses for, 12-11–12with NPN open collector output, 12-11f

Digital-to-analog conversion, 13-13–14Direct collision detection, 23-19Direct-drive robotic manipulator modeling and

identification, 14-14–15experimental setup, 14-14–15

Direct impedance modulation, 19-17–18Discrete-time samples

multiple continuous time-frequencies, 13-10fDiscrete-time system

sampling and aliasing, 13-9–10Discrete-time system fundamentals, 13-9–14Discretization of spatial domain, 24-19–25Disk and link interaction, 7-19–21, 7-20fDispensers, 11-16Displacement vector, 8-3

Distributed bar elements, 24-15Distributed beam elements in bending, 24-15–16Distributed control system (DCS), 26-5Distributed models, 24-15Distributed shaft elements, 24-15Disturbances

feedforward compensation of, 9-15fDOF model, 21-17f

singleMatlab code, 21-23–24

DOF planar robotgrasping object, 6-15fwith one revolute joint an one prismatic joint, 6-8–13with two revolute joints, 6-4–8

3-DOF systemfull sea state

Matlab code, 21-24–27Double integrator system, 17-8Double pendulum in the plane, 7-16–18

associated interaction forces, 7-16fDouble pole single throw (DPST) switch, 12-10, 12-10fDoubles two matrices

C-code, 3-28–29DPST switch, 12-10, 12-10fDrive related errors, 10-6tDrone, 1-10Duality principle, 16-10–12Ductile materials static failure, 24-3Dynamical scenes, 22-13Dynamic data exchange (DDE), 26-6Dynamic effects, 10-6tDynamic equation, 5-1, 5-6–11

of motion, 21-17Dynamic models, 16-2–4

in closed formand kinematics, 14-15–17

Dynamic Motion Simulation (DADS), 21-10DYNAMICS, 6-3Dynamics, 17-5, 24-11–15

errorblock diagram, 17-9f

Dynamics solverflowchart, 23-18f

E

Eddy current sensors, 12-5Edinburgh Modular Arm System (EMAS), 1-11Eigenfunctions, 24-18–19Eigenvalues and corresponding eigenfunctions, 24-18–19Eight-point linear algorithm, 22-4, 22-5

coplanar features, 22-7–8homography, 22-7–8

Eight-point structure from motion algorithm, 22-6Elastic averaging, 13-6Elastic modulus, 24-3–4Elbow manipulator, 3-5, 3-5f

link frame attachments, 3-5fElectrical power, 11-9Electromagnetic actuators, 12-12–17Electromagnets, 11-16

Index I-5

Electronic leadsfoot side overhang

specification, 10-4fElectronic numerical integrator and computer (ENIAC),

1-5EMAS, 1-11Embedding of constraints

dynamic equations, 5-12Encoders, 12-1, 13-11–12

typical design, 12-2fEndeffector(s), 5-4

attachment precision, 11-4–5design of, 11-1–19grasping modes, forces, and stability, 11-11–13gripper kinematics, 11-9–11grippers and jaw design guidelines, 11-13–16interchangeable, 11-16multi-tool, 11-17fpower sources, 11-7–9robot attachment and payload capacity, 11-3–7sensors and control considerations, 11-17–19special environments, 11-3special locations, 11-5

Endeffector frame, 17-3transformation to base frame, 8-8f

Endoscopic surgery, 1-10Engelberger, Joseph F., 1-4–5, 1-10Engelberger Robotics Awards, 1-5ENIAC, 1-5Environmental forces, 19-2fEnvironmental impedances

types of, 16-10fEnvironmental issues, 1-3Environmental stiffness

locus of coupled system poles, 19-14fEpipolar constraint, 22-4–5Equations of motion

of rigid body, 7-13–14Equivalent control, 18-4–6Ergonomic simulation, 21-8fErnst, Heinrich A., 1-6Error bounds

linear vs. quadratic, 17-13fError budgeting, 10-1–20

accuracy and process capability assessment,10-12–15

error sources, 10-5–7, 10-6tprobability, 10-2–3tolerances, 10-3–5

Error dynamicsblock diagram, 17-9f

Error equation, 17-9Error sources, 10-1

effects on roundness, 10-15fsuperposition of, 10-15f

Essential matrix, 22-4–5, 22-6Ethernet, 26-11, 26-12, 26-12fEuclidean distance, 2-1Euler angles, 2-4, 17-4Euler-Lagrange equations, 5-6Euler’s equation of motion, 4-3f

Euler’s equationscovariant derivative, 7-8–11disadvantages of, 7-8in group coordinates, 7-12rigid body, 7-11–13

Exact-constraint, 13-6Exciting trajectory

motions of, 14-20fExciting trajectory design, 14-8–9Exploratory procedures, 23-10Exponential coordinates, 5-3Exponential map, 5-2

action on group, 7-9fExtended forward kinematics map, 5-4

F

Factorization algorithmmultilinear constraints, 22-13

Factory floor, 21-3fFault tree analysis (FTA), 25-4FBD, 26-15Feasibility, 10-1Feature extraction, 22-3Feature matching, 22-3Feature tracking, 22-3Feedback compensation, 13-20Feedback control design

µ-synthesis, 15-16–19Feedback control hardware, 13-16Feedback controller C1

bode plots of, 15-18fFeedback linearization control, 17-7–8Feedback sensors, 13-17–19Feedforward compensation, 13-21

5% model errors effect on, 9-18f10% model errors effect on, 9-19f

Feedforward controlaction, 9-15–16conversion to command shaping, 9-23–24

Feedforward controllers, 9-4Fictitious constraints, 6-16Fieldbuses

advanced process control, 26-11capabilities, 26-13f

Filippov solutions, 17-15Finite element representations, 24-25First joint

flexible dynamics, 15-11fsensitivity functions for, 15-16f

First U.S. robot patent, 1-5Fixturing errors, 10-6tFK, 14-2

map, 5-4, 17-3–4Flexible arm

kinematics of, 24-20Flexible exhaust hose, 21-3Flexible robot arms, 24-1–42

design and operational strategies, 24-39–41open and loop feedforward control

command filtering, 24-32–35

I-6 Robotics and Automation Handbook

Flexible robots trajectory planning, 9-1–25applications, 9-13–14

Flight simulation, 23-2Fluid power actuators, 12-17–18Folded back, 3-2Food processing, 11-3Force(s)

endeffector, 11-11–13and torques

acting on link n, 4-3fbetween interacting bodies, 7-15–16

and velocity, 5-3–4Force and metrology loops, 13-5–6Force and torque, 12-9Force computation, 5-8–9Force control block diagram, 16-11fForce controlled hydraulic manipulator, 21-18fForce controller

with feed-forward compensation, 18-3fForce feedback, 19-18–19Force sensing, 11-18, 23-3Force sensing resistors (FSR), 11-18Force sensors, 11-17Force step-input, 16-11–12Forward dynamics form, 23-6Forward dynamics solver, 23-20Forward kinematics (FK), 14-2

map, 5-4, 17-3–4Forward-path

block diagram of, 19-8fForward recursion, 4-2Foundation Fieldbus, 26-11Foundation Trilogy, 1-3Four bar linkage jaws, 11-10Four bar linkages gripper arms, 11-4f4x4 homogeneous transformation, 4-1Fowardkinematics.c, 3-18, 3-24–25Frames of reference

assigning, 2-7Frankenstein, 1-2Frankenstein, Victor, 1-2Free-body approach, 4-3Freedom robot army manipulator, 8-9fFrequency domain solutions, 24-16–19Frequency response and impulse response, 24-19FRFs

magnitude plots of, 15-13fFriction

in dynamics, 7-21–22and grasping forces, 11-12–13

Frictional forces, 19-2fFriction forces, 7-16–17

as result of contact, 7-22fFriction modeling, 14-5–6Friction modeling and estimation, 14-19Friction model validation

torque applied to third joint, 14-20fFriction parameters estimation, 14-6–7Friction system

with feedforward compensationblock diagram of, 9-20f

control effort for, 9-22fresponse of, 9-22f

without feedforward compensationcontrol effort in, 9-21fmass response in, 9-21f

FSR, 11-18FTA, 25-4Function block diagram (FBD), 26-15Furby, 1-11

G

GAAT, 21-3Gauss-Jordan elimination, 3-26–28Generalized active force, 6-4Generalized conditions, 17-5Generalized inertia force, 6-4Generalized inertia matrix, 5-6General Motors (GM), 1-2, 1-5, 1-7Generating zero vibration commands, 9-5–9Generic system

block diagram, 9-4fGeneric trajectory command

input shaping, 9-9fGeodesic equation, 5-10Geometric interpretation, 5-10–11Geometric model, 23-17Geometric vision

survey, 22-1–22Global proximity test, 23-18Global warming, 1-3GM, 1-2, 1-5, 1-7Golem, 1-1, 1-2Grafton, Craig, 21-2Graphical animation, 21-12–13Graphical user interface (GUI), 26-6Graphical visualization tools, 21-1Grasping forces

and friction, 11-12–13Grasping modes

endeffector, 11-11–13Grasping stability, 11-11–12Grasp types

for human hands, 11-12fGreek mythology, 1-1Gripper and jaw design geometry, 11-13Gripper arms

four bar linkages, 11-4fGripper design

case study, 11-14–15products, 11-13–14

Gripper forces and moments, 11-12fGripper jaw design algorithms, 11-15–16Gripper kinematics

endeffector, 11-9–11Grounded, 23-3Guaranteed stability of uncertain systems, 17-14GUI, 26-6Gunite and associated tank hardware, 21-4fGunite and Associated Tanks (GAAT), 21-3

Index I-7

H

Hair transplantation robot, 25-12Hall effect sensor, 12-8, 12-8fHaptic interface to virtual environments, 23-1–21, 23-2f

applications, 23-3–4characterizing human user, 23-5classification, 23-2–3design, 23-7–9related technologies, 23-1–2specification and design of, 23-5–7system network diagram and block diagram, 23-5fsystem performance metrics and specifications, 23-4–9

Haptic perception in the blind, 23-11Haptic rendering

block diagram, 23-8fschematic representation, 23-7f

Hapticshistory, 23-10–11

Haptic termstaxonomy of, 23-3f

HARTsensor-level communications protocol, 26-9–10

HAT controller modeldetails, 21-19f

HAT manipulator modeldetails, 21-19f

HAT operator, 22-3HAT simulation model, 21-18fHazard analysis, 25-4–5

initial and final risk legend, 25-5likelihood determination, 25-5risk acceptability, 25-5severity determination, 25-5verification and validation, 25-4

Hazardous environments, 11-3Headers

C-code, 3-29Hebrew mythology, 1-1HelpMate Robotics, 1-10Hexaglide mechanism, 9-2fHigh end robot simulation packages, 21-7–8Highway addressable remote transducer (HART)

sensor-level communications protocol, 26-9–10, 26-10fHMA, 21-3HMI, 26-6–8Hohn, Richard, 1-8Holding torque, 12-14Holonomic constraints, 5-11, 16-14–16Homogeneous matrix, 5-2Homogeneous transformation, 2-6, 2-7

computesC-code, 3-24–25, 3-25–26

Homogeneous transformation, 4x4, 4-1Homogeneoustransformation.c, 3-18, 3-25–26Homogeneous transformation matrices (HTM), 10-8,

10-9, 10-10algorithm for determining, 8-6–8

Homogeneous vector, 5-2Homunculus, 1-2Honda, 1-11

Hooke’s law, 24-2Hose management arm (HMA), 21-3HTM. See Homogeneous transformation matrices (HTM)Human and automatic controller, 23-4Human force without compensation, 21-20fHuman haptics, 23-9–13Human-machine interface (HMI), 26-6–8

gas delivery subsystem menu example, 26-7fHuman user

haptic interface to virtual environments, 23-5Hybrid control, 17-20Hybrid controller, 26-5Hybrid impedance control, 16-9–14

type, 16-9–10Hybrid impedance controller, 16-13fHybrid position/force control, 16-6–9, 16-8fHybrid system, 17-20Hybrid type of control algorithms, 20-6Hydraulic actuators, 12-17. See also HAT controller modelHydraulic fluid power, 11-8

I

I, Robot, 1-3Idealized structures and loading, 24-5IEA, 26-12IGRIP, 21-7, 21-8IK. See Inverse kinematics (IK)Image formation, 22-2–3Impact equation, 5-13–14Impedance

vs. admittance regulation, 19-9–10and interaction control, 19-1–23

Impedance designfor handling an object, 20-7–9

Impulses, 9-6canceling vibration, 9-6f

Incremental position sensors, 13-11–12Independent proportional plus derivative joint control,

24-27–29Inductive (eddy current) sensors, 12-5Industrial Ethernet Association (IEA), 26-12Industrial Open Ethernet Association (IOANA), 26-12Industrial protocol (IP), 26-12Industrial robot

birth of, 1-4–5invention, 1-2

Inertia activity, 6-4Inertial damping controller

arm degrees of freedom augmentation, 24-40quenching flexible base oscillations, 24-41fthree axis arm as micromanipulator for, 24-41f

Inertial force, 6-4, 19-2fInertial reference frame, 4-2Inertia matrix, 17-5Inertia tensor, 4-9, 5-6Infinitesimal motions

and associated Jacobian matrices, 2-8–12rigid-body, 2-11–12screw like, 2-11

Infinitesimal twist, 2-11

I-8 Robotics and Automation Handbook

Information networks, 26-12Inner loop control, 17-8Inner loop/outer loop, 17-8

architecture, 17-8fInput/output, 26-8–9, 26-8fInput shapers, 13-21

sensitivity curves of, 9-10fInstruction list (IL), 26-16Integrated end effector attachment, 11-4Integrated Surgical Systems, Inc., 1-10Interacting rigid bodies systems dynamics, 7-1–23Interaction

control implementation, 19-14–15as disturbance rejection, 19-5effect on performance and stability, 19-2–3as modeling uncertainty, 19-5port admittance, 19-12fport connection causal analysis, 19-8–9

Interaction calculator, 23-17, 23-19–20interconnection flowchart, 23-18f

Interchangeable endeffectors, 11-16International Space Station (ISS), 1-9Inuit legend, 1-1Invasive robotic surgery, 25-11Inverse dynamics, 17-8

computational issues, 4-8Inverse dynamics form of equations, 24-26Inverse kinematics (IK), 3-1–30, 14-2

analytical solution techniques, 3-4dialytical elimination, 3-13difficulty, 3-1–3existence and uniqueness of solutions, 3-2–3map, 17-3–4numerically solves

n degree of freedom robotic manipulator, 3-19–22reduction to subproblems, 3-4solutions, 3-2f

infinite numbers, 3-3fsolution using Newton’s method, 3-14–16utilizing numerical techniques, 3-13–16zero reference position method, 3-13

Inversekinematics.c, 3-18–30Inversekinematics.h, 3-18, 3-30Inverse matrix

computesC-code, 3-26–28

IOANA, 26-12IP, 26-12Isocenter, 25-9Isolated link

force and torque balance, 4-3–4Isolate invariants, 23-12ISS, 1-9Ith arm coordinate system, 20-3fIt’s Been a Good Life, 1-4

J

Jacobian(s)associated with parametrized rotations

angular velocity, 2-8–10

constructs approximateC-code, 3-23–24

manipulator, 17-4six by six, 3-14, 3-23–24for ZXZ Euler angles, 2-10–11

Jacobian matricesadjoint, 2-12associated

and infinitesimal motions, 2-8–12body manipulator, 5-5

Jacobian singularities, 3-13Jacquard, Joseph, 1-2Japanese Industrial Robot Association (JIRA), 1-7–8Japanese manufacturers, 1-7Jaws

design geometry, 11-13four bar linkage, 11-10with grasped object, 11-15f

JIRA, 1-7–8Johnson, Harry, 1-7Joint errors

ranges of, 15-20fvariances of, 15-21t

Joint motionsonline reconstruction of, 14-9–10

7-joint robot manipulator, 8-15–18Joint space, 17-3

inverse dynamics, 17-8–9model, 16-2–3trajectory

for writing task, 14-18fJoint torques, 4-8Joint variables, 5-4

K

Kalman filterbode plots of, 14-10f

Kalman filtering technique, 14-7Kane, Thomas, 6-1Kane’s dynamical equations, 6-3Kane’s equations, 6-4

in robotic literature, 6-22–25Kane’s method, 4-2, 6-1–29

commercial software packages related, 6-25–29description, 6-3–4discrete general steps, 6-5kinematics, 6-18–22preliminaries, 6-16–18

Kinematic(s), 17-3–4, 24-9–11chain, 17-2

closed, 24-10deformation, 24-10design, 13-6and dynamic models in closed form, 14-15–17interfaces, 23-3Kane’s method, 6-18–22modeling, 10-7–12, 14-3–4simulation, 21-1

Kronecker product of two vectors, 22-5Kron’s method of subspaces, 7-14

Index I-9

L

Ladder diagram, 26-14fLadder logic diagrams (LLD), 26-13, 26-14–15,

26-14fLagrange-d’Alembert principle, 5-13Lagrange-Euler (L-E) method, 4-2Lagrange multipliers, 5-12, 7-19Lagrange’s equations of motion of the first kind, 6-4Lagrange’s formalism

advantages, 5-11Lagrange’s form of d’Alembert’s principle, 6-4Lagrangian dynamics, 5-1–14Lagrangian function, 5-6Language selection, 26-16Laplace-transformed impedance and admittance functions

for mechanical events, 19-6tLaser interferometers, 13-18Law of motion, 6-2LCS, 10-7Leader-follower type control algorithm, 20-11–12Lead screw drive

lead errors associated with, 10-7fLego MINDSTORMS robotic toys, 1-11L-E method, 4-2Levi-Civita connection, 5-10Levinson, David, 6-27Lie algebra, 5-2, 5-4Life safety systems, 26-18fLight curtains, 12-12Limit switches and sensors, 12-12Linear and rotary bearings, 13-14Linear axes

errors for, 10-6tLinear encoders, 13-17–18Linear error motions, 10-6tLinear feedback motion control, 15-1–22

with nonlinear model-based dynamic compensators,15-5–10

Linear incremental encoders, 12-1Linearization

Kane’s method, 6-19Linearized equations

Kane’s method, 6-13–14Linear motions jaws, 11-9–10, 11-9fLinear reconstruction algorithm

coplanar, 22-13Linear solenoid concept, 12-13fLinear variable differential transformer (LVDT), 12-4–5,

12-4fLink parameters, 3-4Load capacity, 20-2fLoad cells, 12-9Load induced deformation, 10-6tLoad sharing problem, 20-7Local coordinate systems (LCS), 10-7Logic-based switching control, 17-20Long reach manipulator RALE, 9-2fLoop feedforward control

command filtering, 24-32–35learning control, 24-36

trajectory design inverse dynamics, 24-36–39, 24-38ftrajectory specifications, 24-32, 24-33f

Loop-shaping, 15-8Low cost robot simulation packages, 21-8–9Low-impedance performance

improving, 19-18–19Low pass filtering, 24-33LuGre model, 14-7Lumped inertia, 24-12Lumped masses

dynamics of, 24-13–15Lumped models, 24-11–13Lumped springs, 24-12LVDT, 12-4–5, 12-4fLyapunov’s second method, 17-14–15

M

Machine accuracy, 10-1Machine components imperfections, 10-1Magellan, 1-9Magnetically Attached General Purpose Inspection Engine

(MAGPIE), 1-6Magnetostrictive materials, 11-9MAGPIE, 1-6Manipulators

background, 17-2–6inertia matrix, 5-7Jacobian, 17-4kinetic energy, 17-5potential energy, 17-5robust and adaptive motion control of, 17-1–21tasks, 20-2f

Manufacturing automation, 26-1–18control elements, 26-6–8controllers, 26-4–6hierarchy of control, 26-2–4, 26-3fhistory, 26-2–4industrial case study, 26-17–18networking and interfacing, 26-9–13process questions for control, 26-1–2programming, 26-13–16terminology, 26-2

Manufacturing management information flow,26-3f

Maple, 21-15Mariner 2, 1-8Mariner 10, 1-9Mars, 1-9Massachusetts Institute of Technology (MIT), 1-5Mass distribution properties

of link, 4-8Massless elastic links

dynamics of, 24-13–15Master manipulator, 23-1Master-slave type of control algorithms, 20-5–6,

20-5fMaterial properties, 24-3–4Mates, 21-10Mathematica, 21-15Matlab

I-10 Robotics and Automation Handbook

code3-DOF system full sea state, 21-24–27single DOF example, 21-23–24

cost, 21-11Matrix exponential, 2-4Matrixinverse.c, 3-18, 3-26–28Matrixproduct.c, 3-18, 3-28–29McCarthy, John, 1-6Mechanical Hand-1 (MH-1), 1-5Mechanical impedance and admittance, 19-6–7Mechatronic systems, 13-8–21

definition of, 13-8–9Mercury, 1-9Metrology loops, 13-5–6MH-1, 1-5Microbot Alpha II, 11-4Milenkovic, Veljko, 1-7MIL-STD 2000A, 10-4Minimally invasive surgical (MIS)

procedures, 1-10robotic, 25-9–10

Minimum distance tracking algorithms, 23-19Minsky, Marvin, 1-6MIS procedures, 1-10MIT, 1-5MIT Artificial Intelligence Laboratory, 1-6Mitiguy, Paul, 6-28Mitsubishi PA-10 robot arm, 8-15–18

D-H parameters, 8-15tschematic, 8-16f

Mobile manipulatorsuse, 20-11

MODBUS, 26-11Model(s)

establishing correctness of, 14-17–19parameters estimation, 14-6–10validations, 14-11

Modeling, 24-2–27errors

mass response with, 9-23fand slower trajectory, 9-23f

material removal processes, 10-15–19Modified light duty utility arm (MLDUA), 21-3Moment of inertia, 4-8Morison, Robert S., 1-6Motion controller, 26-5Motion control system

environmental considerations, 13-8serviceability and maintenance, 13-8

Motion equationobject supported by multiple manipulators, 20-3

Motion estimation algorithmscomparison, 22-19f

Motion of object and controlof internal force moment, 20-5–7

Motion planning, 17-7Motion reference tracking accuracy, 15-1Motivation based on higher performance, 24-1Motor sizing

simplified plant model for, 13-20fMoving-bridge coordinate measuring machine, 9-3f

MSC Software’s Adams, 21-10Multibody dynamic packages, 21-10–11Multi-bus system architecture, 26-9fMulti-component end effectors, 11-11Multi-Input Multi-Output, 9-14Multi-jaw chuck axes, 11-11fMulti-jaw gripper design, 11-15fMulti-mode input shaping, 9-11Multiple-body epipolar constraint, 22-8Multiple-body motion, 22-8Multiple images

3-D point X in m camera frames, 22-9fMultiple jaw/chuck style, 11-10–11Multiple manipulators

coordinated motion control, 20-1–12mobile, 20-10–11

coordination, 20-11fdecentralized motion control, 20-10–12

Multiple-model-based hybrid control architecture, 17-20fMultiple-model control, 17-20Multiple-view geometry, 22-8–13Multiple-view matrix

point features, 22-9rank condition, 22-9–10theorem, 22-10

Multiple-view rank conditioncomparison, 22-19f

Multiple-view reconstructionfactorization algorithm, 22-11–13

Multi-tool endeffector, 11-17fMu-synthesis feedback control design, 15-16–19Mythical creatures

motion picture influence, 1-2

N

Narrow phase, 23-19National Aeronautics and Space Administration (NASA),

1-6National Science Foundation (NSF), 1-6Natural admittance control, 19-19–20Natural pairing, 5-4Nature of impacted systems, 24-1–2N-E equations, 4-2–3N-E method, 4-2Networks

selection of, 26-13Neural-network friction model, 14-6Newton-Euler (N-E) equations, 4-2–3Newton-Euler (N-E) method, 4-2Newtonium, 21-8Newton’s equation of motion, 4-3fNewton’s law, 7-2–5

in constrained space, 7-5–8covariant derivative, 7-3–5, 7-4f

Newton’s method, 3-14C code

implementation, 3-18–30six degree of freedom manipulator, 3-18–30

convergence, 3-17theorems relating to, 3-17–18

Index I-11

Newton’s second law, 4-2, 4-3fNodic impedance, 19-14–15, 19-15fNominal complementary sensitivity functions

magnitude plots of, 15-19fNominal data

bode plots, 15-13fNominal plant model, 15-12–13Noncontact digital sensors, 12-10–11Nonholonomic constraints, 5-11

forces, 7-18–19Noninvasive robotic surgery, 25-6–9Nonlinear friction

feedforward control of, 9-19–22Normal force control component, 16-7–8Norway, 1-7NSF, 1-6Nuclear waste remediation simulation, 21-3Numerical problems and optimization, 22-8Numerical simulation, 21-13–21Nyquist plane, 19-12fNyquist Sampling Theorem, 13-9

O

Oak Ridge National Laboratory (ORNL), 21-3OAT filter, 24-35

vs. joint PID and repetitive learning, 24-38fObject

coordinate system, 20-3fdynamics-based control algorithms, 20-6–7, 20-6fmanipulation, 20-2–5, 20-3f

ODVA, 26-12Odyssey IIB submersible robot, 1-11Online gradient estimator

of BPS, 14-8Open and loop feedforward control

command filtering, 24-32–35learning control, 24-36trajectory design inverse dynamics, 24-36–39, 24-38ftrajectory specifications, 24-32, 24-33f

Open DeviceNet Vendor Association (ODVA), 26-12OpenGL interface, 21-12Open loop and feedforward control, 24-31–39Open-loop gains

for first joint, 15-16fOperational space control, 17-10Optical sensors, 12-6–7

dielectric variation in, 12-6fOptical time-of-flight, 12-7Optical triangulation, 12-6–7

displacement sensor, 12-7fOriented bounding boxes, 23-18Orlandea, Nick, 6-27ORNL, 21-3Orthogonal matrices, 2-2Orthographic projection, 22-4, 22-13Orthonormal coordinate frames

assigning to pair of adjacent links, 8-1schematic, 8-2

Our Angry Earth, 1-3Outer loop, 17-8

architecture, 17-8fcontrol, 17-8

Overhead bridge crane, 9-5fOzone depletion, 1-3

P

Painting robot, 9-14fParacelsus, 1-2Parallel axis/linear motions jaws, 11-9–10, 11-9fParallelism, 10-6tPartial velocities, 6-4Part orienting gripper design, 11-16fPassive, 17-6Passive damping, 24-39, 24-40f

sectioned constraining layer, 24-39fPassive touch, 23x11Passivity, 19-10–13Passivity applied to haptic interface, 23-15–17Passivity-based adaptive control, 17-19Passivity-based approach, 17-18Passivity-based robust control, 17-18–19Passivity property, 5-8, 17-6Patient safety

CyberKnife stereotactic radiosurgery system, 25-9Paul, Howard, 1-10Payload, 11-5–6Payload capacity

endeffector, 11-3–7Payload force analysis, 11-6–7, 11-7fPayload response moving through obstacle field, 9-5fPC-based open controller, 26-6PD. See Proportional and derivative (PD)pdf, 10-2, 10-3, 10-3fPenalty contact model, 23-19–20Penalty method, 23-19–20Performance index, 10-4, 10-5Performance weightings

magnitude plots for, 15-17fPersistency of excitation, 17-18Persistent disturbances, 17-11Personal computer (PC)

open controller, 26-6Perturbed complementary sensitivity functions

magnitude plots of, 15-19fPhysical environment, 23-1PID control, 26-3Pieper’s method, 3-13Pieper’s solution, 3-7–11Piezoelectric, 11-9

and strain gage accelerometer designs, 12-9fPiezoelectric actuation for damping

arm degrees of freedom augmentation, 24-41Piezoresistor force sensors, 11-18Pinhole imaging model, 22-2fPiper’s solution, 3-4Pipettes, 11-16Pitch, 5-3Pivoting/rotary action jaws, 11-10Planar symmetry, 22-16Planar two-link robot, 4-5

I-12 Robotics and Automation Handbook

Planetsexplored, 1-9

PLC, 26-3, 26-4–5, 26-4fPneumatic actuators, 12-17–18Pneumatic valve connections

safety, 11-8fPointer

returns to matrix cC-code, 3-28–29

Port behavior and transfer functions, 19-7–8Position control block diagram, 16-11fPosition/orientation

errors, 20-11Position-synchronized output (PSO), 13-11Post-World War II technology, 1-5Potentiometers, 12-4Power amplifiers, 13-16–17Precision

definitions of, 13-2–3machine, 13-14–16

design fundamentals, 13-2–8structure, 13-15vibration isolation, 13-15–16

positioningof rotary and linear systems, 13-1–22

Predator UAV (unmanned aerial vehicle), 1-10Pressure sense, 23-11Primera Sedan car, 21-2Prismatic joints, 17-3Probability density function (pdf), 10-2, 10-3, 10-3fProcedicus MIST, 21-4, 21-4fProcess capability index, 10-4Process flow chart, 11-2fProcessing steps interactions, 10-14Product of Exponentials Formula, 5-5Pro/ENGINEER simulation

Kane’s method, 6-26Profibus DP, 26-10Profibus-FMS, 26-11, 26-12Profibus-PA, 26-11ProgramCC

cost, 21-11Programmable logic controllers (PLC), 26-3, 26-4–5, 26-4fProgrammable Universal Machine for Assembly (PUMA),

1-8Pro/MECHANICA

Kane’s method, 6-26Proportional and derivative (PD)

controller, 9-1position errors, 15-20, 15-20f

Proportional integral and derivative (PID) control, 26-3Prosthetics, 1-11Proximity sensors, 11-17, 12-11–12Pseudo-velocities, 5-12PSO, 13-11Psychophysics, 23-11Pull-back, 5-9Pull type solenoids, 12-13Pulse-width-modulation (PWM), 13-16–17PUMA, 1-8PUMA 560

iterative evolution, 3-16manipulator, 3-11–13

PUMA 600 robot arm, 8-18–21D-H parameters, 8-18tschematic, 8-19f

PWM, 13-16–17Pygmalion, 1-1

Q

Quadrature encoders, 12-2–3clockwise motion, 12-2fcounterclockwise motion, 12-2f

Quantization, 13-11–12Quaternions, 17-4

R

Radiosurgery, 25-6Radiotherapy, 25-6RALF, 24x32fRandom variable, 10-2Rank condition

multiple-view matrix, 22-8RANSAC type of algorithms, 22-3RCC, 11-5, 11-6f, 20x9fRCC dynamics

impedance design, 20-9–10Readability, 3-18Real time implementation, 4-8, 9-12–13Real time input shaping, 9-13fReconstructed friction torques, 14-21fReconstructed structure

two views, 22-12fReconstruction

building, 22-21ffrom multiple images, 22-3using multiple-view geometry, 22-3

Reconstruction pipelinethree-D, 22-3

Recursive formulation, 4-2Recursive IK solutions

vs. closed-form solutions, 14-18fReduced order controller design, 16-15–16Reduced order model, 16-15Reduced order position/force control, 16-14–17, 16-16f

along slanted surface, 16-16–17Reference configuration, 5-5Reference motion task, 15-19fReference trajectory

in task space, 14-11fReflective symmetry transformation, 22-14fRegressor, 17-6Regulating dynamic behavior, 19-5–13Remote compliance centers (RCC), 11-5, 11-6f,

20-9fRemote controlled vehicle invention, 1-2Repeatability, 13-3f

definition of, 13-2–3Residual payload motion, 9-4Resistance temperature transducers (RTD), 26-8

Index I-13

Resolution, 13-3definition of, 13-2–3

Resolved acceleration control, 17-10Resolvers, 12-5Revolute joints, 17-3Riemannian connection, 7-3Riemannian manifold, 7-4Riemannian metrics, 5-14, 7-6Riemannian structure, 7-2Rigid body

dynamics modeling, 14-4–5, 14-12–14, 14-22–23torques differences, 14-19f

inertial properties, 5-6–7kinematics, 2-1–12motion

velocity, 5-3–4Rigidity, 20-2fRigid linkages

Euler-language equations, 5-7–8Rigid-link rigid-joint robot interacting with constrain

surface, 18-3fRigid motions, 17-3Rigid robot dynamics properties, 17-5–6ROBODOC Surgical Assistant, 25-11, 25-11fRobot

arm end, 11-5farmy dynamics

governing equations, 4-2assembling electronic package onto printed wiring board,

10-13fattachment and payload capacity

endeffector, 11-3–7control problem

block diagram of, 17-7fdefined, 1-1design packages, 21-5–6dynamic analysis, 4-1–9dynamic model

experimental validation of, 14-12fdynamic simulation, 21-9–10first use of word, 1-3kinematics, 4-1motion

animation, 21-7–9motion control modeling, 14-3–6

and identification, 14-1–24Newton-Euler dynamics, 4-1–9simulation, 21-1–27

high end packages, 21-7–8options, 21-5–11

SolidWorks model, 21-11ftheoretical foundations, 4-2–8

Robo-therapy, 1-11Robotic(s), 1-2

applications and frontiers, 1-11–12example applications, 21-2–4first use of word, 1-3–4history, 1-1–12in industry, 1-7–8inventions leading to, 1-2medical applications, 1-10–11, 25-1–25

advantages of, 25-1–2design issues, 25-2–3hazard analysis, 25-4–5research and development process, 25-3,

25-4fupcoming products, 25-12

military and law enforcement applications, 1-9–10mythology influence, 1-1–2in research laboratories, 1-5–7space exploration, 1-8–9

Robotic Arm Large and Flexible (RALF), 24-32fRobotic arm manipulator with five joints, 8-8Robotic catheter system, 25-12Robotic hair transplant system, 25-12fRobotic limbs, 1-11Robotic manipulator

force/impedance control, 16-1–18sliding mode control, 18-1–8

Robotic manipulator motion controlby continuous sliding mode laws, 18-6–8problem sliding mode formulation, 18-6–7sliding mode manifolds, 18-7t

Robotic simulationtypes of software packages, 21-5

Robotic toys, 1-11RoboWorks, 21-8Robust feedback linearization, 17-11–16Robustness, 15-2

to modeling errors, 9-10Robust ZVD shaper, 9-10, 9-10fRochester, Nat, 1-6Rodrigues’ formula, 5-3Rolled throughput yield, 10-5Root lock for three proportional gains, 24-28fRosen, Charles, 1-5Rosenthal, Dan, 6-26Rotary axes

errors for, 10-6tRotary bearings, 13-14Rotary encoders, 12-1, 13-17Rotary solenoids, 12-13Rotating axes/pivoting jaws, 11-10fRotating axes pneumatic gripper, 11-10fRotational component, 5-6Rotational dynamics, 7-8–11Rotation matrix, 8-3

submatrixindependent elements, 3-14

Rotationsrules for composing, 2-3in three dimensions, 2-1–4

Routine maintenance, 10-1RRR robot, 14-15f, 15-11f

DH parameters of, 14-14fdirect-drive manipulator

case study, 15-10–21PD control of, 15-15frigid-body dynamic model, 14-16

RTD, 26-8Russian Mir space station, 1-9

I-14 Robotics and Automation Handbook

S

SAIL, 1-6Sampled and held force

vs. displacement curve for virtual wall, 23-14fSCADA, 26-6SCARA. See Selective Compliance Assembly Robot Arm

(SCARA)Schaechter, David, 6-27Scheinman, Victor, 1-6, 1-8, 8-13Schilling Titan II

ORNL’s RoboWorks model, 21-9fScrew, 5-3

magnitude of, 5-3Screw axis, 2-6Screw machine invention, 1-2Screw motions, 2-6SD/FAST

Kane’s method, 6-26Selective Compliance Assembly Robot Arm (SCARA), 1-8,

8-11–12D-H parameters for, 8-11ferror motions, 10-11tkinematic modeling, 10-10, 10-10fschematic, 8-11f

Semiautomatic building mapping and reconstruction,22-21–22

Semiconductor manufacturing, 11-3Semiglobal, 17-11Sensing modalities, 22-1Sensitive directions, 10-13Sensor-level input/output protocol, 26-9–10Sensors and actuators, 12-1–18Sequential flow chart (SFC), 26-16, 26-17fSerial linkages

kinematics, 5-4–5Serial link manipulator, 17-3fSerial manipulator

with n joints, 14-3fSeries dynamics, 19-20–21Servo controlled joints

dynamics of, 24-13–15Servo control system

for joint i, 15-7fServo design

using µ-synthesis, 15-9f7-joint robot manipulator, 8-15–18SFC, 26-16, 26-17fSGI, 21-12Shafts, 24-5–6

distributed elements, 24-15Shaky the Robot, 1-5Shannon, Claude E., 1-6Shaped square trajectory

response to, 9-15fShape memory alloys, 11-9Shaping filter, 24-34Shear modulus, 24-3–4Shelley, Mary Wollstonecraft, 1-2Sherman, Michael, 6-26Silicon Graphics, Inc. (SGI), 21-12

Silma, 21-7Simbionix LapMentor software, 21-4Simbionix virtual patient, 21-5fSimilarity, 22-3SimMechanics, 21-10

cost, 21-11Simple impedance control, 19-15–17Simple kinematic pairs, 24-10Simulated mechanical contact, 23-1Simulated workcell, 21-7fSimulation block diagram, 21-14fSimulation capabilities

build your own, 21-11–21Simulation forms of equation, 24-25–26Simulation packages

robothigh end, 21-7–8

Simulink, 21-10, 21-13cost, 21-11

Sine error, 13-5fSingle-axis tuning

simplified plant model for, 13-20fSingle DOF example

Matlab code, 21-23–24Single jaw gripper design, 11-14fSingle pole double throw switch (SPDT), 12-10, 12-10fSingle-resonance model, 19-21f, 19-22f

equivalent physical system for, 19-19fSingle structural resonance model, 19-4f6-axis robot manipulator with five revolute joints, 8-13Six by six Jacobian, 3-14, 3-23–24Six degree of freedom manipulator, 3-8, 3-13–16Six degree of freedom system, 3-14Skew-symmetric matrix, 5-6–7Slanted surface

hybrid impedance control along, 16-13–14hybrid position/force control, 16-8–9manipulator moving along, 16-4ftask-space formulation for, 16-3–4

Slave manipulator, 23-2Sliding modes, 17-15–16

controller design, 18-7–8formulation of robot manipulator, 18-2–4

Sliding surface, 17-15–16, 17-17fSmall baseline motion and continuous motion, 22-8Small Gain Theorem, 17-11Small motions, 2-8, 2-11Smooth function tracking

with feedforward compensation, 9-18fwithout feedforward compensation, 9-17f

Sojourner Truth, 1-9Solenoids, 12-12–13Solid state output, 12-11SolidWorks, 21-10

cost, 21-10robot model, 21-11f

Sony, 1-11Space Station Remote Manipulator System (SSRMS), 1-9Spatial distribution of errors, 10-14–15Spatial dynamics, 4-8–9Spatial information, 23-11

Index I-15

Spatial velocity, 5-3–4SPDT, 12-10, 12-10fSpecial Euclidean group, 17-3Special purpose end effectors/complementary tools,

11-16Spectrum analysis technique, 14-13Speeds

online reconstruction of, 14-9–10Spencer, Christopher Miner, 1-2Sphere

ANSI definition of circularity, 10-4fSpherical wrist center, 3-9–10

height, 3-10Spring-and-mass environment

stable and unstable parameter values for, 19-21fSpring-mass response

shaped step commands, 9-12fSquareness, 10-6tSRI International, 1-5SSRMS, 1-9Stability, 15-2

endeffector, 11-11–13Stable factorizations, 17-11Standard deviation, 10-3Stanford arm, 1-6, 8-13–15, 8-13f

D-H parameters, 8-14tStanford Artificial Intelligence Lab (SAIL), 1-6Stanford cart, 1-6Stanford manipulator

link frame attachments, 3-7fvariation, 3-7f

Stanford Research Institute, 1-5Statics, 24-2–9Stepper motors, 12-13–15Stereotactic radiosurgery system, 25-6–9Stiffness control, 16-5–6Stiffness of series of links, 24-12–13Straightness, 10-6tStrain gauge sensor, 12-8

applied to structure, 12-9fStrains sensors, 12-8–9Strength, 24-4Stress vs. strain, 24-2–3Structural compliance, 10-1Structured text, 26-15

example, 26-15fSupervisory control, 17-20Supervisory control and data acquisition system (SCADA),

26-6Surface grinder

local coordinate systems, 10-7fSurgical simulation, 21-3–4Sweden, 1-8Swept envelope, 10-15Switches

as digital sensors, 12-10Switzerland, 1-8Symbolic packages, 21-15Symmetric multiple-view matrix, 22-15Symmetric multiple-view rank condition, 22-14–15, 22-15Symmetry, 22-13–17

reconstruction from, 22-15statistical context, 22-16surfaces and curves, 22-16and vision, 22-16

Symmetry-based algorithmbuilding reconstructed, 22-22f

Symmetry-based reconstructionfor rectangular object, 22-16

Symmetry cellsdetected and extracted, 22-20ffeature extraction, 22-18feature matching, 22-20fmatching, 22-20freconstruction, 22-20f

SystemBuild, 21-10, 21-13System characteristic behavior, 24-26–27System modeling, 13-19–20System with time delay

feedforward compensation, 9-16–18, 9-16f

T

Tachometers, 12-1Tactile feedback/force sensing, 11-18, 23-3Tactile force control, 11-18–19Taliban forces, 1-10Tangential position control component, 16-7Tangent map, 5-9Task space, 17-3

inverse dynamics, 17-9–10model and environmental forces, 16-3

Taylor series expansion, 2-4, 2-11Telerobot, 23-2Tentacle Arm, 1-7Tesla, Nikola, 1-2Thermal deformation, 10-6tThermally induced deflections, 10-1Thermal management, 13-7Theta.dat, 3-18, 3-30Third joint

flexible dynamics, 15-12fThree axis arm as micromanipulator for inertial damping,

24-41fThree-dimensional sensitivity curve, 9-11f3-DOF system

full sea stateMatlab code, 21-24–27

3-D reconstruction pipeline, 22-3Three Laws of Robotics, 1-4Three-phase DC brushless motor, 12-16fThree term OAT command shaping filter, 24-34fTiger Electronics, 1-11Time delay filtering, 24-34, 24-35, 24-35fTime-delay system without feedforward compensation

step response of, 9-16fTime-domain technique, 14-13Tip force without compensation, 21-20fTitan 3 servo-hydraulic manipulator, 12-18fTolerances

defined, 10-4of form, 10-4

I-16 Robotics and Automation Handbook

of size and location, 10-4on surface finish, 10-4

Tomorrow Tool, 1-8Tool related errors, 10-6tTorques and forces

between interacting bodies, 7-15–16Torsion, 24-5–6Torsional buckling, 24-9Trajectory generation, 17-7Trajectory planning for flexible robots, 9-3Trajectory tracking, 17-7Trallfa Nils Underhaug, 1-7Trallfa robot, 1-7Transfer matrix representation, 24-16, 24-18Transformation matrix, 24-9–10Transition Research Corporation, 1-10Translating link released from supports, 6-17fTranslational component, 5-6Translational displacement, 4-9Transmission transfer function

block diagram of, 19-8fTupilaq, 1-1–2Turret lathe invention, 1-2Twist coordinates, 5-2Twists, 5-2Two DOF planar robot

grasping object, 6-15fTwo DOF planar robot with one revolute joint and one

prismatic joint, 6-8–13, 6-9facceleration, 6-11equations of motion, 6-13generalized active forces, 6-13generalized coordinates and speeds, 6-9–10generalized inertia forces, 6-12linearized partial velocities, 6-20tpartial velocities, 6-11preliminaries, 6-9velocities, 6-10

Two DOF planar robot with two revolute joints, 6-4–8equations of motion, 6-7generalized active forces, 6-7–8generalized coordinates and speeds, 6-6generalized inertia forces, 6-7partial velocities, 6-6–7preliminaries, 6-5–6velocities, 6-6

Two inverse kinematic solutions, 3-2fTwo link manipulator, 3-2fTwo-link robot

with two revolute joints, 4-5fTwo-link robot example, 4-4–7Two-mode shaper

forming through convolution, 9-12fTwo-part phase stepper motor power sequence, 12-14fTwo-view geometry, 22-4–8

U

Ultrasonic sensors, 12-8Uncalibrated camera, 22-8

Uncertain double integrator system,17-11f

Unconstrained systemKane’s method, 6-16

Ungrounded, 23-3Unified dynamic approach, 4-2Unimate, 1-5Unimation, 1-4Unimation, Inc., 1-5Universal automation, 1-4Universal multiple-view matrix

rank conditions, 22-13Unmanned aerial vehicle, 1-10

automatic landing, 22-17Unrestrained motions, 6-21Unshaped square trajectory

response to, 9-14f

V

Vacuum, 11-8Vacuum pickups, 11-16Variability, 10-1Vehicle and arm

OpenSim simulation, 21-13fVelocity, 4-9

and forces, 5-3–4kinematics, 17-4step-input, 16-10–11

Venera 13, 1-8Venus, 1-8Vibration reduction

extension beyond, 9-14–15Vicarm, 1-8Vicarm, Inc., 1-8Viking 1, 1-9Viking 2, 1-9Virtual coupler, 23-7, 23-8Virtual damper, 23-14Virtual environments, 23-9, 23-17–20

and haptic interface, 23-1–21characterizing human user, 23-5

Virtual fixtures, 23-3Virtual trajectory, 19-14–15,

19-15fVirtual wall, 23-14f, 23-15Vision, 12-12, 22-1Voyager missions, 1-9

W

Water clock invention, 1-2Weak perspective projection, 22-4Weaver, Warren, 1-6Weber’s law, 23-10Weighting function

magnitude plots for, 15-17fWhirlwind, 1-5Whittaker, William “Red,” 1-7

Index I-17

Working ModelKane’s method, 6-28–29

World frame, 17-3World War II, 1-4Wrench, 5-4Wrist compliance, 11-5Writing task, 15-21f

X

X tip direction, 21-21f

Y

Yamanashi University, 1-8Young’s modulus, 24-2Y tip direction, 21-21f

Z

Zero-order-hold reconstruction filtermagnitude and phase of, 13-13fstairstep version signal, 13-14f

Zero phase error tracking control (ZPETC), 9-22–23,13-21

as command generator, 9-24Zeroth Law, 1-4Zero-vibration impulse sequences

generating zero-vibration commands, 9-9Zero-vibration shaper, 9-10ZEUS Robotic Surgical System, 1-11Ziegler-Nichols PID tuning, 11-18ZPETC, 9-22–23, 13-21

as command generator, 9-24Z tip direction, 21-22fZVD shaper, 9-10, 9-10f