Kurfess T.R. Robotics and Automation Handbook
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Index I-9
L
Ladder diagram, 26-14f
Ladder logic diagrams (LLD), 26-13, 26-14–15,
26-14f
Lagrange-d’Alembert principle, 5-13
Lagrange-Euler (L-E) method, 4-2
Lagrange multipliers, 5-12, 7-19
Lagrange’s equations of motion of the first kind, 6-4
Lagrange’s formalism
advantages, 5-11
Lagrange’sformofd’Alembert’s principle, 6-4
Lagrangian dynamics, 5-1–14
Lagrangian function, 5-6
Language selection, 26-16
Laplace-transformed impedance and admittance functions
for mechanical events, 19-6t
Laser interferometers, 13-18
Law of motion, 6-2
LCS, 10-7
Leader-follower type control algorithm, 20-11–12
Lead screw drive
lead errors associated with, 10-7f
Lego MINDSTORMS robotic toys, 1-11
L-E method, 4-2
Levi-Civita connection, 5-10
Levinson, David, 6-27
Lie algebra, 5-2, 5-4
Life safety systems, 26-18f
Light curtains, 12-12
Limit switches and sensors, 12-12
Linear and rotary bearings, 13-14
Linear axes
errors for, 10-6t
Linear encoders, 13-17–18
Linear error motions, 10-6t
Linear feedback motion control, 15-1–22
with nonlinear model-based dynamic compensators,
15-5–10
Linear incremental encoders, 12-1
Linearization
Kane’s method, 6-19
Linearized equations
Kane’s method, 6-13–14
Linear motions jaws, 11-9–10, 11-9f
Linear reconstruction algorithm
coplanar, 22-13
Linear solenoid concept, 12-13f
Linear variable differential transformer (LVDT), 12-4–5,
12-4f
Link parameters, 3-4
Load capacity, 20-2f
Load cells, 12-9
Load induced deformation, 10-6t
Load sharing problem, 20-7
Local coordinate systems (LCS), 10-7
Logic-based switching control, 17-20
Long reach manipulator RALE, 9-2f
Loop feedforward control
command filtering, 24-32–35
learning control, 24-36
trajectory design inverse dynamics, 24-36–39, 24-38f
trajectory specifications, 24-32, 24-33f
Loop-shaping, 15-8
Low cost robot simulation packages, 21-8–9
Low-impedance performance
improving, 19-18–19
Low pass filtering, 24-33
LuGre model, 14-7
Lumped inertia, 24-12
Lumped masses
dynamics of, 24-13–15
Lumped models, 24-11–13
Lumped springs, 24-12
LVDT, 12-4–5, 12-4f
Lyapunov’s second method, 17-14–15
M
Machine accuracy, 10-1
Machine components imperfections, 10-1
Magellan, 1-9
Magnetically Attached General Purpose Inspection Engine
(MAGPIE), 1-6
Magnetostrictive materials, 11-9
MAGPIE, 1-6
Manipulators
background, 17-2–6
inertia matrix, 5-7
Jacobian, 17-4
kinetic energy, 17-5
potential energy, 17-5
robust and adaptive motion control of, 17-1–21
tasks, 20-2f
Manufacturing automation, 26-1–18
control elements, 26-6–8
controllers, 26-4–6
hierarchy of control, 26-2–4, 26-3f
history, 26-2–4
industrial case study, 26-17–18
networking and interfacing, 26-9–13
process questions for control, 26-1–2
programming, 26-13–16
terminology, 26-2
Manufacturing management information flow,
26-3f
Maple, 21-15
Mariner 2, 1-8
Mariner 10, 1-9
Mars, 1-9
Massachusetts Institute of Technology (MIT), 1-5
Mass distribution properties
of link, 4-8
Massless elastic links
dynamics of, 24-13–15
Master manipulator, 23-1
Master-slave type of control algorithms, 20-5–6,
20-5f
Material properties, 24-3–4
Mates, 21-10
Mathematica, 21-15
Matlab
I-10 Robotics and Automation Handbook
code
3-DOF system full sea state, 21-24–27
single DOF example, 21-23–24
cost, 21-11
Matrix exponential, 2-4
Matrixinverse.c, 3-18, 3-26–28
Matrixproduct.c, 3-18, 3-28–29
McCarthy, John, 1-6
Mechanical Hand-1 (MH-1), 1-5
Mechanical impedance and admittance, 19-6–7
Mechatronic systems, 13-8–21
definition of, 13-8–9
Mercury, 1-9
Metrology loops, 13-5–6
MH-1, 1-5
Microbot Alpha II, 11-4
Milenkovic, Veljko, 1-7
MIL-STD 2000A, 10-4
Minimally invasive surgical (MIS)
procedures, 1-10
robotic, 25-9–10
Minimum distance tracking algorithms, 23-19
Minsky, Marvin, 1-6
MIS procedures, 1-10
MIT, 1-5
MIT Artificial Intelligence Laboratory, 1-6
Mitiguy, Paul, 6-28
Mitsubishi PA-10 robot arm, 8-15–18
D-H parameters, 8-15t
schematic, 8-16f
Mobile manipulators
use, 20-11
MODBUS, 26-11
Model(s)
establishing correctness of, 14-17–19
parameters estimation, 14-6–10
validations, 14-11
Modeling, 24-2–27
errors
mass response with, 9-23f
and slower trajectory, 9-23f
material removal processes, 10-15–19
Modified light duty utility arm (MLDUA), 21-3
Moment of inertia, 4-8
Morison, Robert S., 1-6
Motion controller, 26-5
Motion control system
environmental considerations, 13-8
serviceability and maintenance, 13-8
Motion equation
object supported by multiple manipulators, 20-3
Motion estimation algorithms
comparison, 22-19f
Motion of object and control
of internal force moment, 20-5–7
Motion planning, 17-7
Motion reference tracking accuracy, 15-1
Motivation based on higher performance, 24-1
Motor sizing
simplified plant model for, 13-20f
Moving-bridge coordinate measuring machine, 9-3f
MSC Software’s Adams, 21-10
Multibody dynamic packages, 21-10–11
Multi-bus system architecture, 26-9f
Multi-component end effectors, 11-11
Multi-Input Multi-Output, 9-14
Multi-jaw chuck axes, 11-11f
Multi-jaw gripper design, 11-15f
Multi-mode input shaping, 9-11
Multiple-body epipolar constraint, 22-8
Multiple-body motion, 22-8
Multiple images
3-D point X in m camera frames, 22-9f
Multiple jaw/chuck style, 11-10–11
Multiple manipulators
coordinated motion control, 20-1–12
mobile, 20-10–11
coordination, 20-11f
decentralized motion control, 20-10–12
Multiple-model-based hybrid control architecture, 17-20f
Multiple-model control, 17-20
Multiple-view geometry, 22-8–13
Multiple-view matrix
point features, 22-9
rank condition, 22-9–10
theorem, 22-10
Multiple-view rank condition
comparison, 22-19f
Multiple-view reconstruction
factorization algorithm, 22-11–13
Multi-tool endeffector, 11-17f
Mu-synthesis feedback control design, 15-16–19
Mythical creatures
motion picture influence, 1-2
N
Narrow phase, 23-19
National Aeronautics and Space Administration (NASA),
1-6
National Science Foundation (NSF), 1-6
Natural admittance control, 19-19–20
Natural pairing, 5-4
Nature of impacted systems, 24-1–2
N-E equations, 4-2–3
N-E method, 4-2
Networks
selection of, 26-13
Neural-network friction model, 14-6
Newton-Euler (N-E) equations, 4-2–3
Newton-Euler (N-E) method, 4-2
Newtonium, 21-8
Newton’s equation of motion, 4-3f
Newton’slaw,7-2–5
in constrained space, 7-5–8
covariant derivative, 7-3–5, 7-4f
Newton’s method, 3-14
Ccode
implementation, 3-18–30
six degree of freedom manipulator, 3-18–30
convergence, 3-17
theorems relating to, 3-17–18
Index I-11
Newton’ssecondlaw,4-2, 4-3f
Nodic impedance, 19-14–15, 19-15f
Nominal complementary sensitivity functions
magnitude plots of, 15-19f
Nominal data
bode plots, 15-13f
Nominal plant model, 15-12–13
Noncontact digital sensors, 12-10–11
Nonholonomic constraints, 5-11
forces, 7-18–19
Noninvasive robotic surgery, 25-6–9
Nonlinear friction
feedforward control of, 9-19–22
Normal force control component, 16-7–8
Norway, 1-7
NSF, 1-6
Nuclear waste remediation simulation, 21-3
Numerical problems and optimization, 22-8
Numerical simulation, 21-13–21
Nyquist plane, 19-12f
Nyquist Sampling Theorem, 13-9
O
Oak Ridge National Laboratory (ORNL), 21-3
OAT filter, 24-35
vs. joint PID and repetitive learning, 24-38f
Object
coordinate system, 20-3f
dynamics-based control algorithms, 20-6–7, 20-6f
manipulation, 20-2–5, 20-3f
ODVA, 26-12
Odyssey IIB submersible robot, 1-11
Online gradient estimator
of BPS, 14-8
Open and loop feedforward control
command filtering, 24-32–35
learning control, 24-36
trajectory design inverse dynamics, 24-36–39, 24-38f
trajectory specifications, 24-32, 24-33f
Open DeviceNet Vendor Association (ODVA), 26-12
OpenGL interface, 21-12
Open loop and feedforward control, 24-31–39
Open-loop gains
for first joint, 15-16f
Operational space control, 17-10
Optical sensors, 12-6–7
dielectric variation in, 12-6f
Optical time-of-flight, 12-7
Optical triangulation, 12-6–7
displacement sensor, 12-7f
Oriented bounding boxes, 23-18
Orlandea, Nick, 6-27
ORNL, 21-3
Orthogonal matrices, 2-2
Orthographic projection, 22-4, 22-13
Orthonormal coordinate frames
assigning to pair of adjacent links, 8-1
schematic, 8-2
Our Angry Earth, 1-3
Outer loop, 17-8
architecture, 17-8f
control, 17-8
Overhead bridge crane, 9-5f
Ozone depletion, 1-3
P
Painting robot, 9-14f
Paracelsus, 1-2
Parallel axis/linear motions jaws, 11-9–10, 11-9f
Parallelism, 10-6t
Partial velocities, 6-4
Part orienting gripper design, 11-16f
Passive, 17-6
Passive damping, 24-39, 24-40f
sectioned constraining layer, 24-39f
Passive touch, 23x11
Passivity, 19-10–13
Passivity applied to haptic interface, 23-15–17
Passivity-based adaptive control, 17-19
Passivity-based approach, 17-18
Passivity-based robust control, 17-18–19
Passivity property, 5-8, 17-6
Patient safety
CyberKnife stereotactic radiosurgery system, 25-9
Paul, Howard, 1-10
Payload, 11-5–6
Payload capacity
endeffector, 11-3–7
Payload force analysis, 11-6–7, 11-7f
Payload response moving through obstacle field, 9-5f
PC-based open controller, 26-6
PD. See Proportional and derivative (PD)
pdf, 10-2, 10-3, 10-3f
Penalty contact model, 23-19–20
Penalty method, 23-19–20
Performance index, 10-4, 10-5
Performance weightings
magnitude plots for, 15-17f
Persistency of excitation, 17-18
Persistent disturbances, 17-11
Personal computer (PC)
open controller, 26-6
Perturbed complementary sensitivity functions
magnitude plots of, 15-19f
Physical environment, 23-1
PID control, 26-3
Pieper’s method, 3-13
Pieper’s solution, 3-7–11
Piezoelectric, 11-9
and strain gage accelerometer designs, 12-9f
Piezoelectric actuation for damping
arm degrees of freedom augmentation, 24-41
Piezoresistor force sensors, 11-18
Pinhole imaging model, 22-2f
Piper’s solution, 3-4
Pipettes, 11-16
Pitch, 5-3
Pivoting/rotary action jaws, 11-10
Planar symmetry, 22-16
Planar two-link robot, 4-5
I-12 Robotics and Automation Handbook
Planets
explored, 1-9
PLC, 26-3, 26-4–5, 26-4f
Pneumatic actuators, 12-17–18
Pneumatic valve connections
safety, 11-8f
Pointer
returnstomatrixc
C-code, 3-28–29
Port behavior and transfer functions, 19-7–8
Position control block diagram, 16-11f
Position/orientation
errors, 20-11
Position-synchronized output (PSO), 13-11
Post-World War II technology, 1-5
Potentiometers, 12-4
Power amplifiers, 13-16–17
Precision
definitions of, 13-2–3
machine, 13-14–16
design fundamentals, 13-2–8
structure, 13-15
vibration isolation, 13-15–16
positioning
of rotary and linear systems, 13-1–22
Predator UAV (unmanned aerial vehicle), 1-10
Pressure sense, 23-11
Primera Sedan car, 21-2
Prismatic joints, 17-3
Probability density function (pdf), 10-2, 10-3, 10-3f
Procedicus MIST, 21-4, 21-4f
Process capability index, 10-4
Process flow chart, 11-2f
Processing steps interactions, 10-14
Product of Exponentials Formula, 5-5
Pro/ENGINEER simulation
Kane’s method, 6-26
Profibus DP, 26-10
Profibus-FMS, 26-11, 26-12
Profibus-PA, 26-11
ProgramCC
cost, 21-11
Programmable logic controllers (PLC), 26-3, 26-4–5, 26-4f
Programmable Universal Machine for Assembly (PUMA),
1-8
Pro/MECHANICA
Kane’s method, 6-26
Proportional and derivative (PD)
controller, 9-1
position errors, 15-20, 15-20f
Proportional integral and derivative (PID) control, 26-3
Prosthetics, 1-11
Proximity sensors, 11-17, 12-11–12
Pseudo-velocities, 5-12
PSO, 13-11
Psychophysics, 23-11
Pull-back, 5-9
Pull type solenoids, 12-13
Pulse-width-modulation (PWM), 13-16–17
PUMA, 1-8
PUMA 560
iterative evolution, 3-16
manipulator, 3-11–13
PUMA 600 robot arm, 8-18–21
D-H parameters, 8-18t
schematic, 8-19f
PWM, 13-16–17
Pygmalion, 1-1
Q
Quadrature encoders, 12-2–3
clockwise motion, 12-2f
counterclockwise motion, 12-2f
Quantization, 13-11–12
Quaternions, 17-4
R
Radiosurgery, 25-6
Radiotherapy, 25-6
RALF, 24x32f
Random variable, 10-2
Rank condition
multiple-view matrix, 22-8
RANSAC type of algorithms, 22-3
RCC, 11-5, 11-6f, 20x9f
RCC dynamics
impedance design, 20-9–10
Readability, 3-18
Real time implementation, 4-8, 9-12–13
Real time input shaping, 9-13f
Reconstructed friction torques, 14-21f
Reconstructed structure
two views, 22-12f
Reconstruction
building, 22-21f
from multiple images, 22-3
using multiple-view geometry, 22-3
Reconstruction pipeline
three-D, 22-3
Recursive formulation, 4-2
Recursive IK solutions
vs. closed-form solutions, 14-18f
Reduced order controller design, 16-15–16
Reduced order model, 16-15
Reduced order position/force control, 16-14–17, 16-16f
along slanted surface, 16-16–17
Reference configuration, 5-5
Reference motion task, 15-19f
Reference trajectory
in task space, 14-11f
Reflective symmetry transformation, 22-14f
Regressor, 17-6
Regulating dynamic behavior, 19-5–13
Remote compliance centers (RCC), 11-5, 11-6f,
20-9f
Remote controlled vehicle invention, 1-2
Repeatability, 13-3f
definition of, 13-2–3
Residual payload motion, 9-4
Resistance temperature transducers (RTD), 26-8
Index I-13
Resolution, 13-3
definition of, 13-2–3
Resolved acceleration control, 17-10
Resolvers, 12-5
Revolute joints, 17-3
Riemannian connection, 7-3
Riemannian manifold, 7-4
Riemannian metrics, 5-14, 7-6
Riemannian structure, 7-2
Rigid body
dynamics modeling, 14-4–5, 14-12–14, 14-22–23
torques differences, 14-19f
inertial properties, 5-6–7
kinematics, 2-1–12
motion
velocity, 5-3–4
Rigidity, 20-2f
Rigid linkages
Euler-language equations, 5-7–8
Rigid-link rigid-joint robot interacting with constrain
surface, 18-3f
Rigid motions, 17-3
Rigid robot dynamics properties, 17-5–6
ROBODOC Surgical Assistant, 25-11, 25-11f
Robot
arm end, 11-5f
army dynamics
governing equations, 4-2
assemblingelectronicpackage onto printedwiringboard,
10-13f
attachment and payload capacity
endeffector, 11-3–7
control problem
block diagram of, 17-7f
defined, 1-1
design packages, 21-5–6
dynamic analysis, 4-1–9
dynamic model
experimental validation of, 14-12f
dynamic simulation, 21-9–10
first use of word, 1-3
kinematics, 4-1
motion
animation, 21-7–9
motion control modeling, 14-3–6
and identification, 14-1–24
Newton-Euler dynamics, 4-1–9
simulation, 21-1–27
high end packages, 21-7–8
options, 21-5–11
SolidWorks model, 21-11f
theoretical foundations, 4-2–8
Robo-therapy, 1-11
Robotic(s), 1-2
applications and frontiers, 1-11–12
example applications, 21-2–4
first use of word, 1-3–4
history, 1-1–12
in industry, 1-7–8
inventions leading to, 1-2
medical applications, 1-10–11, 25-1–25
advantages of, 25-1–2
design issues, 25-2–3
hazard analysis, 25-4–5
research and development process, 25-3,
25-4f
upcoming products, 25-12
military and law enforcement applications, 1-9–10
mythology influence, 1-1–2
in research laboratories, 1-5–7
space exploration, 1-8–9
Robotic Arm Large and Flexible (RALF), 24-32f
Robotic arm manipulator with five joints, 8-8
Robotic catheter system, 25-12
Robotic hair transplant system, 25-12f
Robotic limbs, 1-11
Robotic manipulator
force/impedance control, 16-1–18
sliding mode control, 18-1–8
Robotic manipulator motion control
by continuous sliding mode laws, 18-6–8
problem sliding mode formulation, 18-6–7
sliding mode manifolds, 18-7t
Robotic simulation
types of software packages, 21-5
Robotic toys, 1-11
RoboWorks, 21-8
Robust feedback linearization, 17-11–16
Robustness, 15-2
to modeling errors, 9-10
Robust ZVD shaper, 9-10, 9-10f
Rochester, Nat, 1-6
Rodrigues’ formula, 5-3
Rolled throughput yield, 10-5
Root lock for three proportional gains, 24-28f
Rosen, Charles, 1-5
Rosenthal, Dan, 6-26
Rotary axes
errors for, 10-6t
Rotary bearings, 13-14
Rotary encoders, 12-1, 13-17
Rotary solenoids, 12-13
Rotating axes/pivoting jaws, 11-10f
Rotating axes pneumatic gripper, 11-10f
Rotational component, 5-6
Rotational dynamics, 7-8–11
Rotation matrix, 8-3
submatrix
independent elements, 3-14
Rotations
rules for composing, 2-3
in three dimensions, 2-1–4
Routine maintenance, 10-1
RRR robot, 14-15f, 15-11f
DH parameters of, 14-14f
direct-drive manipulator
case study, 15-10–21
PD control of, 15-15f
rigid-body dynamic model, 14-16
RTD, 26-8
Russian Mir space station, 1-9
I-14 Robotics and Automation Handbook
S
SAIL, 1-6
Sampled and held force
vs. displacement curve for virtual wall, 23-14f
SCADA, 26-6
SCARA. See Selective Compliance Assembly Robot Arm
(SCARA)
Schaechter, David, 6-27
Scheinman, Victor, 1-6, 1-8, 8-13
Schilling Titan II
ORNL’s RoboWorks model, 21-9f
Screw, 5-3
magnitude of, 5-3
Screw axis, 2-6
Screw machine invention, 1-2
Screw motions, 2-6
SD/FAST
Kane’s method, 6-26
Selective Compliance Assembly Robot Arm (SCARA), 1-8,
8-11–12
D-H parameters for, 8-11f
error motions, 10-11t
kinematic modeling, 10-10, 10-10f
schematic, 8-11f
Semiautomatic building mapping and reconstruction,
22-21–22
Semiconductor manufacturing, 11-3
Semiglobal, 17-11
Sensing modalities, 22-1
Sensitive directions, 10-13
Sensor-level input/output protocol, 26-9–10
Sensors and actuators, 12-1–18
Sequential flow chart (SFC), 26-16, 26-17f
Serial linkages
kinematics, 5-4–5
Serial link manipulator, 17-3f
Serial manipulator
with n joints, 14-3f
Series dynamics, 19-20–21
Servo controlled joints
dynamics of, 24-13–15
Servo control system
for joint i, 15-7f
Servo design
using µ-synthesis, 15-9f
7-joint robot manipulator, 8-15–18
SFC, 26-16, 26-17f
SGI, 21-12
Shafts, 24-5–6
distributed elements, 24-15
Shaky the Robot, 1-5
Shannon, Claude E., 1-6
Shaped square trajectory
response to, 9-15f
Shape memory alloys, 11-9
Shaping filter, 24-34
Shear modulus, 24-3–4
Shelley, Mary Wollstonecraft, 1-2
Sherman, Michael, 6-26
Silicon Graphics, Inc. (SGI), 21-12
Silma, 21-7
Simbionix LapMentor software, 21-4
Simbionix virtual patient, 21-5f
Similarity, 22-3
SimMechanics, 21-10
cost, 21-11
Simple impedance control, 19-15–17
Simple kinematic pairs, 24-10
Simulated mechanical contact, 23-1
Simulated workcell, 21-7f
Simulation block diagram, 21-14f
Simulation capabilities
build your own, 21-11–21
Simulation forms of equation, 24-25–26
Simulation packages
robot
high end, 21-7–8
Simulink, 21-10, 21-13
cost, 21-11
Sine error, 13-5f
Single-axis tuning
simplified plant model for, 13-20f
Single DOF example
Matlab code, 21-23–24
Single jaw gripper design, 11-14f
Single pole double throw switch (SPDT), 12-10, 12-10f
Single-resonance model, 19-21f, 19-22f
equivalent physical system for, 19-19f
Single structural resonance model, 19-4f
6-axis robot manipulator with five revolute joints, 8-13
Six by six Jacobian, 3-14, 3-23–24
Six degree of freedom manipulator, 3-8, 3-13–16
Sixdegreeoffreedomsystem,3-14
Skew-symmetric matrix, 5-6–7
Slanted surface
hybrid impedance control along, 16-13–14
hybrid position/force control, 16-8–9
manipulator moving along, 16-4f
task-space formulation for, 16-3–4
Slave manipulator, 23-2
Sliding modes, 17-15–16
controller design, 18-7–8
formulation of robot manipulator, 18-2–4
Sliding surface, 17-15–16, 17-17f
Small baseline motion and continuous motion, 22-8
Small Gain Theorem, 17-11
Small motions, 2-8, 2-11
Smooth function tracking
with feedforward compensation, 9-18f
without feedforward compensation, 9-17f
Sojourner Truth, 1-9
Solenoids, 12-12–13
Solid state output, 12-11
SolidWorks, 21-10
cost, 21-10
robot model, 21-11f
Sony, 1-11
Space Station Remote Manipulator System (SSRMS), 1-9
Spatial distribution of errors, 10-14–15
Spatial dynamics, 4-8–9
Spatial information, 23-11
Index I-15
Spatial velocity, 5-3–4
SPDT, 12-10, 12-10f
Special Euclidean group, 17-3
Special purpose end effectors/complementary tools,
11-16
Spectrum analysis technique, 14-13
Speeds
online reconstruction of, 14-9–10
Spencer, Christopher Miner, 1-2
Sphere
ANSI definition of circularity, 10-4f
Spherical wrist center, 3-9–10
height, 3-10
Spring-and-mass environment
stable and unstable parameter values for, 19-21f
Spring-mass response
shaped step commands, 9-12f
Squareness, 10-6t
SRI International, 1-5
SSRMS, 1-9
Stability, 15-2
endeffector, 11-11–13
Stable factorizations, 17-11
Standard deviation, 10-3
Stanford arm, 1-6, 8-13–15, 8-13f
D-H parameters, 8-14t
Stanford Artificial Intelligence Lab (SAIL), 1-6
Stanford cart, 1-6
Stanford manipulator
link frame attachments, 3-7f
variation, 3-7f
Stanford Research Institute, 1-5
Statics, 24-2–9
Stepper motors, 12-13–15
Stereotactic radiosurgery system, 25-6–9
Stiffness control, 16-5–6
Stiffness of series of links, 24-12–13
Straightness, 10-6t
Strain gauge sensor, 12-8
applied to structure, 12-9f
Strains sensors, 12-8–9
Strength, 24-4
Stress vs. strain, 24-2–3
Structural compliance, 10-1
Structured text, 26-15
example, 26-15f
Supervisory control, 17-20
Supervisory control and data acquisition system (SCADA),
26-6
Surface grinder
local coordinate systems, 10-7f
Surgical simulation, 21-3–4
Sweden, 1-8
Swept envelope, 10-15
Switches
as digital sensors, 12-10
Switzerland, 1-8
Symbolic packages, 21-15
Symmetric multiple-view matrix, 22-15
Symmetric multiple-view rank condition, 22-14–15, 22-15
Symmetry, 22-13–17
reconstruction from, 22-15
statistical context, 22-16
surfaces and curves, 22-16
and vision, 22-16
Symmetry-based algorithm
building reconstructed, 22-22f
Symmetry-based reconstruction
for rectangular object, 22-16
Symmetry cells
detected and extracted, 22-20f
feature extraction, 22-18
feature matching, 22-20f
matching, 22-20f
reconstruction, 22-20f
SystemBuild, 21-10, 21-13
System characteristic behavior, 24-26–27
System modeling, 13-19–20
System with time delay
feedforward compensation, 9-16–18, 9-16f
T
Tachometers, 12-1
Tactile feedback/force sensing, 11-18, 23-3
Tactile force control, 11-18–19
Taliban forces, 1-10
Tangential position control component, 16-7
Tangent map, 5-9
Task space, 17-3
inverse dynamics, 17-9–10
model and environmental forces, 16-3
Taylor series expansion, 2-4, 2-11
Telerobot, 23-2
Tentacle Arm, 1-7
Tesla, Nikola, 1-2
Thermal deformation, 10-6t
Thermally induced deflections, 10-1
Thermal management, 13-7
Theta.dat, 3-18, 3-30
Third joint
flexible dynamics, 15-12f
Three axis arm as micromanipulator for inertial damping,
24-41f
Three-dimensional sensitivity curve, 9-11f
3-DOF system
full sea state
Matlab code, 21-24–27
3-D reconstruction pipeline, 22-3
Three Laws of Robotics, 1-4
Three-phase DC brushless motor, 12-16f
Three term OAT command shaping filter, 24-34f
Tiger Electronics, 1-11
Time delay filtering, 24-34, 24-35, 24-35f
Time-delay system without feedforward compensation
step response of, 9-16f
Time-domain technique, 14-13
Tip force without compensation, 21-20f
Titan 3 servo-hydraulic manipulator, 12-18f
Tolerances
defined, 10-4
of form, 10-4
I-16 Robotics and Automation Handbook
of size and location, 10-4
on surface finish, 10-4
Tomorrow Tool, 1-8
Tool related errors, 10-6t
Torques and forces
between interacting bodies, 7-15–16
Torsion, 24-5–6
Torsional buckling, 24-9
Trajectory generation, 17-7
Trajectory planning for flexible robots, 9-3
Trajectory tracking, 17-7
Trallfa Nils Underhaug, 1-7
Trallfa robot, 1-7
Transfer matrix representation, 24-16, 24-18
Transformation matrix, 24-9–10
Transition Research Corporation, 1-10
Translating link released from supports, 6-17f
Translational component, 5-6
Translational displacement, 4-9
Transmission transfer function
block diagram of, 19-8f
Tupilaq, 1-1–2
Turret lathe invention, 1-2
Twist coordinates, 5-2
Twists, 5-2
Two DOF planar robot
grasping object, 6-15f
Two DOF planar robot with one revolute joint and one
prismatic joint, 6-8–13, 6-9f
acceleration, 6-11
equations of motion, 6-13
generalized active forces, 6-13
generalized coordinates and speeds, 6-9–10
generalized inertia forces, 6-12
linearized partial velocities, 6-20t
partial velocities, 6-11
preliminaries, 6-9
velocities, 6-10
Two DOF planar robot with two revolute joints, 6-4–8
equations of motion, 6-7
generalized active forces, 6-7–8
generalized coordinates and speeds, 6-6
generalized inertia forces, 6-7
partial velocities, 6-6–7
preliminaries, 6-5–6
velocities, 6-6
Two inverse kinematic solutions, 3-2f
Two link manipulator, 3-2f
Two-link robot
with two revolute joints, 4-5f
Two-link robot example, 4-4–7
Two-mode shaper
forming through convolution, 9-12f
Two-part phase stepper motor power sequence, 12-14f
Two-view geometry, 22-4–8
U
Ultrasonic sensors, 12-8
Uncalibrated camera, 22-8
Uncertain double integrator system,
17-11f
Unconstrained system
Kane’s method, 6-16
Ungrounded, 23-3
Unified dynamic approach, 4-2
Unimate, 1-5
Unimation, 1-4
Unimation, Inc., 1-5
Universal automation, 1-4
Universal multiple-view matrix
rank conditions, 22-13
Unmanned aerial vehicle, 1-10
automatic landing, 22-17
Unrestrained motions, 6-21
Unshaped square trajectory
response to, 9-14f
V
Vacuum, 11-8
Vacuum pickups, 11-16
Variability, 10-1
Vehicle and arm
OpenSim simulation, 21-13f
Velocity, 4-9
and forces, 5-3–4
kinematics, 17-4
step-input, 16-10–11
Venera 13, 1-8
Venus, 1-8
Vibration reduction
extension beyond, 9-14–15
Vicarm, 1-8
Vicarm, Inc., 1-8
Viking 1, 1-9
Viking 2, 1-9
Virtual coupler, 23-7, 23-8
Virtual damper, 23-14
Virtual environments, 23-9, 23-17–20
and haptic interface, 23-1–21
characterizing human user, 23-5
Virtual fixtures, 23-3
Virtual trajectory, 19-14–15,
19-15f
Virtual wall, 23-14f, 23-15
Vision, 12-12, 22-1
Voyager missions, 1-9
W
Water clock invention, 1-2
Weak perspective projection, 22-4
Weaver, Warren, 1-6
We be r’slaw,23-10
Weighting function
magnitude plots for, 15-17f
Whirlwind, 1-5
Whittaker, William “Red,” 1-7
Index I-17
Working Model
Kane’s method, 6-28–29
World frame, 17-3
World War II, 1-4
Wrench, 5-4
Wrist compliance, 11-5
Writing task, 15-21f
X
X tip direction, 21-21f
Y
Yamanashi University, 1-8
Young’s modulus, 24-2
Y tip direction, 21-21f
Z
Zero-order-hold reconstruction filter
magnitude and phase of, 13-13f
stairstep version signal, 13-14f
Zero phase error tracking control (ZPETC), 9-22–23,
13-21
as command generator, 9-24
Zeroth Law, 1-4
Zero-vibration impulse sequences
generating zero-vibration commands, 9-9
Zero-vibration shaper, 9-10
ZEUS Robotic Surgical System, 1-11
Ziegler-Nichols PID tuning, 11-18
ZPETC, 9-22–23, 13-21
as command generator, 9-24
Z tip direction, 21-22f
ZVD shaper, 9-10, 9-10f