Bruno Siciliano

Springer Handbook of Robotics

The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organizations Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbooks team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app.

Theory of Robot Control

Part 1 Rigid manipulators: modelling and identification joint space control task space control motion and force control. Part 2 Flexible manipulators: elastic joints flexible links. Part 3 Mobile robots: modelling and structural properties feedback linearization nonlinear feedback control. Appendix: control background.

Robot Force Control

From the Publisher: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulators end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimedat filling this gap by providing a theoretical and experimental treatment of robot force control.

Kinematic control of redundant robot manipulators: A tutorial

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulators Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions.

A general framework for managing multiple tasks in highly redundant robotic systems

The exploitation of kinematic redundancies in robotic systems may provide more dexterity and versatility in the execution of complex tasks. When functional constraint tasks are imposed in addition to the end-effector tasks, a task priority strategy is advisable. The authors propose a general framework for managing multiple tasks in highly redundant systems. In particular, they derive joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model-based controllers. They also develop a recursive implementation, and discuss the occurrence of singularities in the Jacobian associated with the generic task. Two case studies illustrate the effectiveness of the algorithm on a snake-like robot.<<ETX>>

Closed-form dynamic model of planar multilink lightweight robots

Closed-form equations of motion are presented for planar lightweight robot arms with multiple flexible links. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and flexible displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modeled as Euler-Bernoulli beams with proper clamped-mass boundary conditions. The assumed modes method is adopted in order to obtain a finite-dimensional model. Explicit equations of motion are detailed for two-link case assuming two modes of vibration for each link. The associated eigenvalue problem is discussed in relation with the problem of time-varying mass boundary conditions for the first link. The model is cast in a compact form that is linear with respect to a suitable set of constant parameters. Extensive simulation results that validate the theoretical derivation are included. >

A solution algorithm to the inverse kinematic problem for redundant manipulators

Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm which only makes use of the direct kinematics of the manipulator. Simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical joint limit. >

Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy

This article presents new closed-loop schemes for solving the inverse kinematics of constrained redundant manipula tors. In order to exploit the space of redundancy, the end- effector task is suitably augmented by adding a constraint task. The success of the technique is guaranteed either by specifying the constraint task ad hoc or by resorting to a task priority strategy. Instead of previous inverse kinemat ics schemes that use the Jacobian pseudoinverse, the schemes in this work are shown to converge using the Jacobian transpose. A number of case studies illustrate different ways of solving redundancy in the context of the proposed schemes.

A survey of robot interaction control schemes with experimental comparison

A great many control schemes for a robot manipulator interacting with the environment have been developed in the literature. This paper is aimed at presenting a survey of robot interaction control schemes for a manipulator, the end effector of which comes in contact with a compliant surface. A salient feature of the work is the implementation of the schemes on an industrial robot with open control architecture equipped with a wrist force sensor. Two classes of control strategies are considered, namely, those based on static model-based compensation and those based on dynamic model-based compensation. The former provide a good steady-state behavior, while the latter enhance the behavior during the transient. The performance of the various schemes is compared in the light of disturbance rejection, and a thorough analysis is developed by means of a number of case studies.

The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed using the concept of force and velocity ellipsoids. A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated for an industrial robot of the Tricept family.