Dynamics of Robotic Systems
The field of robotics has grown a lot in last three to four decades. In this chapter, background and developments in the field of dynamics of robotic systems are presented.
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Dynamics of Robotic Systems
The field of robotics has grown a lot in last three to four decades. In this chapter, background and developments in the field of dynamics of robotic systems are presented.
2.1 Robotic Systems A robotic system can be divided into two categories based on their topology, i.e., open-chain or closed-chain. Robots with serial and tree-type architecture are openchain systems, e.g., a PUMA industrial robot and multi-fingered robotic hands shown in Figs. 2.1a and 2.2, respectively. The cooperating industrial robot and robots with parallel architecture, e.g., Stewart platform and delta manipulator, are examples of closed-chain systems. Figure 2.3 shows a Stewart platform. On the contrary, legged robots as shown in Fig. 2.4 have time varying topology, i.e., a combination of open- and closed-chains. A legged robot may also be viewed as a robotic system with floating- or mobile-base with intermittent ground contacts. Thus, a robotic system has its base either fixed or floating. Industrial robots and parallel robots are examples of fixed-base systems while the space manipulators and legged robots are examples of floating-base systems. This book addresses dynamics of tree-type robotic systems with both fixed-base and floating-base. The analysis of closed-chain systems can be carried out by cutting appropriate joints to form a tree-type system, where the opened joints are substituted with appropriate constraint forces.
2.1.1 Serial Robots Industrial robot (Fig. 2.1) is a classical example of a fixed-base serial-chain robotic system. Industrial robots have the capability to perform manipulation task similar S.V. Shah et al., Dynamics of Tree-Type Robotic Systems, Intelligent Systems, Control and Automation: Science and Engineering 62, DOI 10.1007/978-94-007-5006-7 2, © Springer ScienceCBusiness Media Dordrecht 2013
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2 Dynamics of Robotic Systems
Fig. 2.1 Industrial robots. (a) Puma Robot. (b) UNIMATE robot (http://ijts). (c) Sanford arm (http://www.dipity)
to human arm. Development of such robots started after World War II. The first industrial robot, UNIMATE of Fig. 2.1b, was used in the assembly line in General Motors way back in 1961. The first electrically powered, computer-controlled robot, Stanford Arm (Fig. 2.1c), was developed in 1969. Research on industrial robots started in late 1970s and has gone a long way in the areas of kinematics, path planning, dynamics, simulation, control and design. Denavit and Hartenberg (1955), Hollerbach and Gideon (1983), Goldenberg et al. (1985), Khatib (1986), Ma and Angeles (1990), Coset et al. (2005) and others worked on different issues of kinematics and path planning of industrial robots. The issues of dynamics were addressed by Hollerbach (1980), Luh et al. (1980), Walker and Orin (1982), Khalil et al. (1986), Angeles et al. (1989), and Balafoutis and Patel (1991). Simulation
2.1 Robotic Systems
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Fig. 2.2 Robotic hands. (a) Utah/MIT hand (Jacobsen et al. 1986). (b) Stanford/JPL hand (Mason and Salisbury 1985). (c) TUM hand (Pfeiffer 1996)
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