Robotics Modelling, Planning and Control

Advanced Textbooks in Control and Signal Processing

Series Editors

Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, UK Other titles published in this series:

Genetic Algorithms K.F. Man, K.S. Tang and S. Kwong

Introduction to Optimal Estimation E.W. Kamen and J.K. Su

Discrete-time Signal Processing D. Williamson

Neural Networks for Modelling and Control of Dynamic Systems M. Nørgaard, O. Ravn, N.K. Poulsen and L.K. Hansen

Fault Detection and Diagnosis in Industrial Systems L.H. Chiang, E.L. Russell and R.D. Braatz

Soft Computing L. Fortuna, G. Rizzotto, M. Lavorgna, G. Nunnari, M.G. Xibilia and R. Caponetto

Statistical Signal Processing T. Chonavel

Discrete-time Stochastic Processes (2nd Edition) T. Söderström

Parallel Computing for Real-time Signal Processing and Control M.O. Tokhi, M.A. Hossain and M.H. Shaheed

Multivariable Control Systems P. Albertos and A. Sala

Control Systems with Input and Output Constraints A.H. Glattfelder and W. Schaufelberger

Analysis and Control of Non-linear Process Systems K.M. Hangos, J. Bokor and G. Szederkényi

Model Predictive Control (2nd Edition) E.F. Camacho and C. Bordons

Principles of Adaptive Filters and Self-learning Systems A. Zaknich

Digital Self-tuning Controllers V. Bobál, J. Böhm, J. Fessl and J. Macháček

Control of Robot Manipulators in Joint Space R. Kelly, V. Santibáñez and A. Loría

Receding Horizon Control W.H. Kwon and S. Han

Robust Control Design with MATLAB® D.-W. Gu, P.H. Petkov and M.M. Konstantinov

Control of Dead-time Processes J.E. Normey-Rico and E.F. Camacho

Modeling and Control of Discrete-event Dynamic Systems B. Hrúz and M.C. Zhou

Bruno Siciliano • Lorenzo Sciavicco Luigi Villani • Giuseppe Oriolo

Robotics

Modelling, Planning and Control

123

Bruno Siciliano, PhD Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Via Claudio 21 80125 Napoli Italy

Lorenzo Sciavicco, DrEng Dipartimento di Informatica e Automazione Università di Roma Tre Via della Vasca Navale 79 00146 Roma Italy

Luigi Villani, PhD Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Via Claudio 21 80125 Napoli Italy

Giuseppe Oriolo, PhD Dipartimento di Informatica e Sistemistica Università di Roma “La Sapienza” Via Ariosto 25 00185 Roma Italy

ISBN 978-1-84628-641-4 e-ISBN 978-1-84628-642-1

DOI 10.1007/978-1-84628-642-1

Advanced Textbooks in Control and Signal Processing series ISSN 1439-2232

A catalogue record for this book is available from the British Library

Library of Congress Control Number: 2008939574

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Series Editors’ Foreword

The topics of control engineering and signal processing continue to flourish anddevelop. In common with general scientific investigation, new ideas, conceptsand interpretations emerge quite spontaneously and these are then discussed,used, discarded or subsumed into the prevailing subject paradigm. Sometimesthese innovative concepts coalesce into a new sub-discipline within the broadsubject tapestry of control and signal processing. This preliminary battle be-tween old and new usually takes place at conferences, through the Internet andin the journals of the discipline. After a little more maturity has been acquiredby the new concepts then archival publication as a scientific or engineeringmonograph may occur.

A new concept in control and signal processing is known to have arrivedwhen sufficient material has evolved for the topic to be taught as a specialisedtutorial workshop or as a course to undergraduate, graduate or industrialengineers. Advanced Textbooks in Control and Signal Processing are designedas a vehicle for the systematic presentation of course material for both popularand innovative topics in the discipline. It is hoped that prospective authors willwelcome the opportunity to publish a structured and systematic presentationof some of the newer emerging control and signal processing technologies inthe textbook series.

Robots have appeared extensively in the artistic field of science fictionwriting. The actual name robot arose from its use by the playwright KarelCapek in the play Rossum’s Universal Robots (1920). Not surprisingly, theartistic focus has been on mechanical bipeds with anthropomorphic person-alities often termed androids. This focus has been the theme of such cine-matic productions as, I, Robot (based on Isaac Asimov’s stories) and StanleyKubrick’s film, A.I.; however, this book demonstrates that robot technologyis already widely used in industry and that there is some robot technologywhich is at prototype stage rapidly approaching introduction to commercialuse. Currently, robots may be classified according to their mobility attributesas shown in the figure.

viii Series Editors’ Foreword

The largest class of robots extant today is that of the fixed robot whichdoes repetitive but often precise mechanical and physical tasks. These robotspervade many areas of modern industrial automation and are mainly con-cerned with tasks performed in a structured environment. It seems highlylikely that as the technology develops the number of mobile robots will signif-icantly increase and become far more visible as more applications and tasksin an unstructured environment are serviced by robotic technology.

What then is robotics? A succinct definition is given in The Chamber’s Dic-tionary (2003): the branch of technology dealing with the design, constructionand use of robots. This definition certainly captures the spirit of this volumein the Advanced Textbooks in Control and Signal Processing series entitledRobotics and written by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani andGiuseppe Oriolo. This book is a greatly extended and revised version of anearlier book in the series, Modelling and Control of Robot Manipulators (2000,ISBN: 978-1-85233-221-1). As can be seen from the figure above, robots covera wide variety of types and the new book seeks to present a unified approachto robotics whilst focusing on the two leading classes of robots, the fixed andthe wheeled types. The textbook series publishes volumes in support of newdisciplines that are emerging with their own novel identity, and robotics asa subject certainly falls into this category. The full scope of robotics lies atthe intersection of mechanics, electronics, signal processing, control engineer-ing, computing and mathematical modelling. However, within this very broadframework the authors have pursued the themes of modelling, planning andcontrol . These are, and will remain, fundamental aspects of robot design andoperation for years to come. Some interesting innovations in this text includematerial on wheeled robots and on vision as used in the control of robots.Thus, the book provides a thorough theoretical grounding in an area wherethe technologies are evolving and developing in new applications.

The series is one of textbooks for advanced courses, and volumes in theseries have useful pedagogical features. This volume has twelve chapters cov-ering both fundamental and specialist topics, and there is a Problems sectionat the end of each chapter. Five appendices have been included to give moredepth to some of the advanced methods used in the text. There are over twelvepages of references and nine pages of index. The details of the citations andindex should also facilitate the use of the volume as a source of reference as

Series Editors’ Foreword ix

well as a course study text. We expect that the student, the researcher, thelecturer and the engineer will find this volume of great value for the study ofrobotics.

Glasgow Michael J. GrimbleAugust 2008 Michael A. Johnson

Preface

In the last 25 years, the field of robotics has stimulated an increasing interestin a wide number of scholars, and thus literature has been conspicuous, bothin terms of textbooks and monographs, and in terms of specialized journalsdedicated to robotics. This strong interest is also to be attributed to the inter-disciplinary character of robotics, which is a science having roots in differentareas. Cybernetics, mechanics, controls, computers, bioengineering, electron-ics — to mention the most important ones — are all cultural domains whichundoubtedly have boosted the development of this science.

Despite robotics representing as yet a relatively young discipline, its foun-dations are to be considered well-assessed in the classical textbook literature.Among these, modelling, planning and control play a basic role, not only in thetraditional context of industrial robotics, but also for the advanced scenariosof field and service robots, which have attracted an increasing interest fromthe research community in the last 15 years.

This book is the natural evolution of the previous text Modelling and Con-trol of Robot Manipulators by the first two co-authors, published in 1995, andin 2000 with its second edition. The cut of the original textbook has beenconfirmed with the educational goal of blending the fundamental and techno-logical aspects with those advanced aspects, on a uniform track as regards arigorous formalism.

The fundamental and technological aspects are mainly concentrated in thefirst six chapters of the book and concern the theory of manipulator structures,including kinematics, statics and trajectory planning, and the technology ofrobot actuators, sensors and control units.

The advanced aspects are dealt with in the subsequent six chapters andconcern dynamics and motion control of robot manipulators, interaction withthe environment using exteroceptive sensory data (force and vision), mobilerobots and motion planning.

The book contents are organized in 12 chapters and 5 appendices.In Chap. 1, the differences between industrial and advanced applications

are enlightened in the general robotics context. The most common mechanical