E-Book Overview
"Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved--grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms.The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
E-Book Content
MIT Press Math7X9/2001/03/09:12:00
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Mechanics of Robotic Manipulation
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Intelligent Robots and Autonomous Agents Ronald C. Arkin, editor
Behavior-Based Robotics, Ronald C. Arkin, 1998 Robot Shaping: An Experiment in Behavior Engineering, Marco Dorigo and Marco Colombetti, 1998 Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer, Peter Stone, 2000 Evolutionary Robotics: The Biology, Intelligence, and Technology of SelfOrganizing Machines, Stefano Nolfi and Dario Floreano, 2000 Reasoning about Rational Agents, Michael Wooldridge, 2000 Introduction to AI Robotics, Robin R. Murphy, 2000 Strategic Negotiation in Multiagent Environments, Sarit Kraus, 2001 Mechanics of Robotic Manipulation, Matthew T. Mason, 2001
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Mechanics of Robotic Manipulation
Matthew T. Mason
A Bradford Book The MIT Press Cambridge, Massachusetts London, England
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c 2001 Massachusetts Institute of Technology All rights reserved. No part of this book may be reproduced in any form by any electronic or mechanical means (including photocopying, recording, or information storage and retrieval) without permission in writing from the publisher. This book was set in Times-Roman by the author and was printed and bound in the United States of America. Library of Congress Cataloging-in-Publication Data Mason, Matthew T. Mechanics of robotic manipulation / Matthew T. Mason. p. cm.—(Intelligent robotics and autonomous agents) “A Bradford book.” Includes bibliographical references and index. ISBN 0-262-13396-2 (hc. : alk. paper) 1. Manipulators (Mechanism). 2. Robotics. I. Title. II. Series. TJ211 .M345 2001 629.8’92—dc21
2001030226
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Contents
Preface ix Chapter 1 Manipulation 1 1.1 Case 1: Manipulation by a human 1 1.2 1.3
Case 2: An automated assembly system Issues in manipulation 5
3
1.4 1.5
A taxonomy of manipulation techniques 7 Bibliographic notes 8 Exercises 8
Chapter 2 Kinematics 11 2.1 2.2
Preliminaries 11 Planar kinematics 15
2.3 2.4
Spherical kinematics 20 Spatial kinematics 22
2.5 2.6
Kinematic constraint 25 Kinematic mechanisms 34
2.7
Bibliographic notes 36 Exercises 37
Chapter 3 Kinematic Representation 41 3.1 3.2
Representation of spatial rotations 41 Representation of spatial displacements 58
3.3 3.4
Kinematic constraints 68 Bibliographic notes 72 Exercises 72
Chapter 4 Kinematic Manipulation 77 4.1 4.2
Path planning 77 Path planning for nonholonomic systems 84
4.3 4.4
Kinematic models of contact 86 Bibliographic notes 88 Exercises 88
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vi
Contents
Chapter 5
Rigid Body St