Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic.pdf

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Multi-Arm Cooperating Robots
International Series on
MICROPROCESSOR-BASED AND
INTELLIGENT SYSTEMS ENGINEERING
VOLUME
30
Editor
Professor S. G. Tzafestas, National Technical University of Athens, Greece
Editorial Advisory Board
Professor C. S. Chen, University of Akron, Ohio, U.S.A.
Professor T. Fokuda, Nagoya University, Japan
Professor F. Harashima, University of Tokyo, Tokyo, Japan
Professor G. Schmidt, Technical University of Munich, Germany
Professor N. K. Sinha, McMaster University, Hamilton, Ontario, Canada
Professor D. Tabak, George Mason University, Fairfax, Virginia, U.S.A.
Professor K. Valavanis, University of Southern Louisiana, Lafayette, U.S.A.
548758995.001.png
Multi-Arm Cooperating
Robots
Dynamics and Control
edited by
M.D. ZIVANOVIC
Robotics Center,
Mihajlo Pupin Institute, Belgrade,
Serbia and Montenegro
and
M.
K.
VUKOBRATOVIC
Robotics Center,
Mihajlo Pupin Institute, Belgrade,
Serbia and Montenegro
548758995.002.png
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 1-4020-4268-X (HB)
ISBN-13 978-1-4020-4268-3 (HB)
ISBN-10 1-4020-4269-8 (e-book)
ISBN-13 978-1-4020-4269-0 (e-book)
Published by Springer,
P.O. Box 17, 3300 AA Dordrecht, The Netherlands.
www.springer.com
Printed on acid-free paper
All Rights Reserved
© 2006 Springer
No part of this work may be reproduced, stored in a retrieval system, or transmitted
in any form or by any means, electronic, mechanical, photocopying, microfilming, recording
or otherwise, without written permission from the Publisher, with the exception
of any material supplied specifically for the purpose of being entered
and executed on a computer system, for exclusive use by the purchaser of the work.
Printed in the Netherlands.
TABLE OF CONTENTS
LIST OF FIGURES
ix
PREFACE
xi
1. INTRODUCTION TO COOPERATIVE MANIPULATION
1
1.1 Cooperative Systems – Manipulation Systems
1
1.2 Contact in the Cooperative Manipulation
4
1.3 The Nature of Contact
4
1.4 Introducing Coordinate Frames
7
1.5 General Convention on Symbols and Quantity Designations
16
1.6 Relation to Contact Tasks Involving One Manipulator
18
2. PROBLEMS IN COOPERATIVEWORK
19
2.1 Kinematic Uncertainty
19
2.1.1 Kinematic uncertainty due to manipulator redundancy
19
2.1.2 Kinematic uncertainty due to contact characteristics
21
2.2 Force Uncertainty
22
2.3 Summary of Uncertainty Problems in Cooperative Work
24
2.4 The Problem of Control
25
3. INTRODUCTION TO MATHEMATICAL MODELING OF
COOPERATIVE SYSTEMS
27
3.1 Some Known Solutions to Cooperative Manipulation Models
28
3.2 A Method to Model Cooperative Manipulation
30
3.3 Illustration of the Correct Modeling Procedure
37
v

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