Modelling and Control
This first volume in the series is based on part of a course that I taught in various state and private institutions during 1979 and 1980. It was concerned with the design and control of stationary, articulated robots operating as non-feedback systems. Th
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Volume 1: Modelling and Control
_bot Technology A Series in Eight Volumes Series Editors and Consultants: Philippe Coiffet and Pierre-Jean Richard English Language Series Consultant: Professor I. Aleksander, Brunei University, Uxbridge, England
MODELLiNG AND CONTROL Volume 1
Philippe Coiffet
Automation Laboratory, Montpellier, France
Kogan Page London
First published 1981 by Hermes Publishing (France) 4, villa Madrid, 92200 Neuilly, France Copyright © Hennes Publishing (France) 1981 Softcover reprint of the hardcover 1st edition 1981 This English edition first published 1985 by Kogan Page Ltd, 120 Pentonville Road, London Nl 9JN English translation copyright © Kogan Page Ltd 1985 All rights reserved
British Library CataloguiDg in Pub6catiOll Data Coiffet, Philippe Modelling and control - (Robot technology; 1) 1. Cybernetics I. Title II. ModeIisation et commande. English 001.55 Q514
ISBN 978-1-4684-6848-9 DOI 10.1007/978-1-4684-6846-5
m. Series
ISBN 978-1-4684-6846-5
(eBook)
Contents
Series Foreword by Philippe Coiffet
7
Preface by Jean-Fran«;oise Le Maitre
9
Chapter 1 Definitions and objectives
11
Origin of the word 'robot', 11 Robotics today, 11 What is a robot?, 12 Classification of robots, 16 Conclusions, 1 7
Chapter 2 Structure and specification of articulated robots
19
Degrees of freedom of a solid, 19 Degrees of freedom of a robot, 19 Position of the vehicle and resulting redundancy of degrees of freedom, 21 How many degrees of freedom?, 21 False degrees of freedom, 23 Architecture of the arm, 25 Description of articulated mechanical systems, 26 Conclusions, 36
Chapter 3 Articulated mechanical systems: determination of kinematic elements
39
Computation of the orientation of a chain relative to a set bound to an upper segment, 39 Computation of the orientation of a chain relative to a set bound to a lower segment, 44 Computation of the position of a point on a chain in relation to an upper segment, 44 Computation of the position of a point on a chain in relation to a lower segment, 46 Determination of the velocity vectors of rotation of different segments of a chain relative to a set of coordinate axes, 47 Determination of the velocity vectors of translation of different segments of a chain relative to a set of coordinate axes, 48 Conclusions, 52
Chapter 4 Calculation of robot articulation variables The absence of a solution, 54 An infinite number of solutions, 56 A limited number of solutions, 56
53
Practical choice of [Pi{Ro), Sj{Ro}] , 57 Mechanisms with six degrees of freedom, 58 Mechanisms with more than six degrees of freedom, 65 Conclusions, 65
Chapter 5 Positional control of articulated robots
67
Reference and starting configurations, 67 The principles of positional control, 69 Balanced and initialization configurations, 71 The problems associated with positional control, 73
Chapter 6 Speed control of articulated robots
77
The principles of speed control, 77 Problems arising from the use of equation (6-16), 79 Methods of resolving redundant systems, 80 Conclusions,
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