Mechanical Engineering Series Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition Fundamentals of Robotic Mechanical Systems Mechanical Engineering Series Frederick F. Ling Editor-in-Chief The Mechanical Engineering Series features graduate texts and research monographs to address the need for information in contemporary mechanical engineering, including areas of concentration of applied mechanics, biomechanics, computational mechanics, dynamical systems and control, energetics, mechanics of materials, processing, production systems, thermal science, and tribology. Advisory Board/Series Editors Applied Mechanics D. Gross Technical University of Darmstadt Biomechanics V.C . M ow Columbia University Computational Mechanics H.T. Yang University of California, Santa Barbara Dynamic Systems and Control/ D. Bryant Mechatronics University of Texas at Austin Energetics J.R.Welty University of Oregon, Eugene Processing K.K. Wang Cornell University Production Systems G.-A. Klutke Texas A&M University Thermal Science A.E. Bergles Rensselaer Polytechnic Institute Tribology W.O. Winer Georgia Institute of Technology For further volumes: http://www.springer.com/series/1161 Jorge Angeles Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition 123 Jorge Angeles Department of Mechanical Engineering Centre for Intelligent Machines (CIM) McGill University Montreal, QC, Canada ISSN 0941-5122 ISSN 2192-063X (electronic) ISBN 978-3-319-01850-8 ISBN 978-3-319-01851-5 (eBook) DOI 10.1007/978-3-319-01851-5 Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013952913 © Springer International Publishing Switzerland 2014 This work is subject to copyright. 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Preface to the Fourth Edition The aim of the Fourth Edition is the same as that of the past editions: to provide the reader with the tools needed to better understand the fundamental concepts behind the design, analysis, control, and programming of robotic mechanical systems at large. The current edition includes additional examples and exercises. Furthermore, an updated account of progress and trends in the broad area of robotic mechanical systems, which continues developing at an impressive pace, is included in Chap. 1. However, a comprehensive summary of up-to-date developments is not possible in the limits of a book that stresses fundamentals. An effort was made to include an overview of the subject, with pertinent references for the details. Robotic systems that were not even mentioned in the First Edition, namely, flying robots, especially drones and quadrotors, are now highlighted. In producing the Fourth Edition, special attention was given to the consistency and accuracy of the presentation. In Chap. 4 new examples illustrating the imple- mentation of the Denavit–Hartenberg notation and methodology are included, along with a numerical example on the inverse-displacement problem for spherical wrists. Some materials that complement the book are available on the Springer site allocated to the book: http://www.springer.com/engineering/robotics/book/978-3-319-01850-8 Material posted therein includes code intended to help better understand the most cumbersome derivations, and to provide useful tools when working out the exercises, or simply to assist the curious reader in exploring alternative examples or alternative methods. Animation files and film are also included. An important feature of the code provided is that it allows for either symbolic manipulations, using Maple, or numerical computations, using Matlab. The rough estimates of the solutions to systems of bivariate equations, arising in various chapters, but most intensively in Chap. 9, are facilitated by the inclusion of a Matlab graphic user interface. Further refinements of these estimates are implemented by means of a Newton–Gauss least-square approximation to an overdetermined system of nonlinear equations, as implemented in Matlab. vii viii Preface to the Fourth Edition The excellent work done by Dr. Kourosh Etemadi Zanganeh, currently at Canmet (Nepean, Ontario, Canada), when he was a Ph.D. candidate under the author’s supervision, was instrumental in completing the Second Edition. This work comprises the development of algorithms and code for the solution of the inverse displacement problem of serial robots with architectures that prevent a decoupling of the positioning from the orientation problems. The material in Chap. 9, which was deeply revised in the Third Edition and remained virtually untouched in the current edition, is largely based on this work. I would like to thank all those who provided valuable advice for improvement: Profs. Carlos López-Cajún, Universidad Autónoma de Querétaro (Mexico), and J. Jesús Cervantes-Sánchez, Universidad de Guanajuato (Mexico), pointed out many inconsistencies in the First Edition; Dr. Zheng Liu, Canadian Space Agency, St.- Hubert (Quebec, Canada), who taught a course based on the first six chapters of the book at McGill University, pointed out mistakes and gave valuable suggestions for improving the readability of the book. Additionally, the valuable suggestions received from Prof. Pierre Larochelle, Florida Institute of Technology, were also incorporated. Needless to say, the feedback received from students throughout more than 20 years of using this material in the classroom is highly acknowledged. Not the least, the C-code RVS, developed on Silicon Graphics’ IRIX—a dialect of UNIX—in the 1990s, was ported into Windows. The code is now available under the name RVS4W (RVS for Windows). RVS, introduced already in the First Edition, is the software system I have used at McGill University’s Centre for Intelligent Machines to visualize robot motions in projects on design, control, and motion- planning. The original C-code, and the whole idea of RVS, is due to the creative work of John Darcovich, now a Senior Engineer at CAE Electronics Ltd., when he was a Research Engineer at McGill University’s Robotic Mechanical Systems Laboratory. In the Fourth Edition, I include new photographs that replaced old ones. For the magnificent animation of space robots, included in the above site, I am indebted to the Canadian Space Agency and MDA, the Brampton, Ontario-based manufacturer of Canadarm and Canadarm2. Since there is always room for improvement, I welcome suggestions from the readership, to the address below. Updates on the book will be posted at www.cim.mcgill.ca/~rmsl The Solutions Manual has been expanded to include more solutions of sampled problems. By the same token, the number of exercises has been expanded. The manual is typeset in LATEX and contains numerous figures; it is available from the publisher upon request. In closing, I would like to thank Dr. Xiaoqing Ma, who assisted me with the editing of the Fourth Edition and the production of a few figures. Dr. Waseem A. Khan, now a Senior Research Engineer at Montreal-based Jabez Technologies Inc., is to be thanked for the excellent additional drawings required by the Third Edition, besides some coding, while he was a Ph.D. candidate at McGill University. Preface to the Fourth Edition ix Dr. Stéphane Caro, currently a researcher at France’s Ecole Centrale de Nantes, contributed with Matlab coding while working at McGill University’s Robotic Mechanical Systems Laboratory as a postdoctoral fellow. Montreal, QC, Canada Jorge Angeles Preface to the First Edition No todos los pensamientos son algorítmicos. —Mario Bunge1 The beginnings of modern robotics can be traced back to the late 1960s with the advent of the microprocessor, which made