10l Robotics Cartesian Configuration . C Ty A. Lasky Configuration. Articulated Configurati Configuration. Gantry Configuratio 101.2 Dynamics and Control Independent Joint Control of the Robot. Dynamic Models iversity of California, Dav omputed Torque Methods. Adaptive Control. Resolved R Lal tummala Motion Control. Compliant Motion. Flexible Manipulators Justification. Implementation Strategies. Applications in Nicholas G. Drey Manufacturing. Emerging Iss 101.1 Robot Configuration Ty A. Lasky and Tien C. hsia Configuration is a fundamental classification for industrial robots. Configuration refers to the geometry of the robot manipulator, i.e., the manner in which the links of the manipulator are connected at each joint. The Robotic Industries Association(RIA) defines a robot as a manipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for the perfo rmance or a riety of tasks. With this finition, attention here is focused on industrial manipulator arms, typically mounted on a fixed pedestal base. Mobile robots and hard automation [ e.g., Computer Numerical Control( CNC)machines] are excluded The emphasis here is on serial-chain manipulator arms, which consist of a serial chain of linkages, where each link is connected to exactly two other links, with the exception of the first and last, which are connected to only one other link. Additionally, the first three links, called the major linkages, are focused on, with only a brief mention of the last three links, or wrist joints, also called the minor linkages Robot configuration is an important consideration in the selection of a manipulator. Configuration refers to the way the manipulator links are connected at each joint. Each link will be connected to the subsequent link by either a linear(sliding or prismatic) joint, which can be abbreviated with a P, or a revolute (or rotary) int,abbreviated with an R. Using this notation, a robot with three revolute joints would be abbreviated as RRR, while one with a rotary joint followed by two linear (prismatic) joints would be denoted RPP. Each configuration type is well suited to certain types of tasks and ill suited to others. Some configurations are more versatile than others. In addition to the geometrical considerations, robot configuration affects the structural stiffness of the robot, which may be an important consideration. Also, configuration impacts the complexity the forward and inverse kinematics, which are the mappings between the robot actuator (joint)space, and the Cartesian position and orientation of the robot end-effector, or tool. There are six major robot configurations commonly used in industry. Details for each configuration are presented in subsequent subsections. The simplest configuration is the Cartesian robot, which consists of three rthogonal, linear joints(PPP), so that the robot moves in the x, y and z directions in the joint space. The c 2000 by CRC Press LLC© 2000 by CRC Press LLC 101 Robotics 101.1 Robot Configuration Cartesian Configuration • Cylindrical Configuration • Spherical Configuration • Articulated Configuration • SCARA Configuration • Gantry Configuration • Additional Information 101.2 Dynamics and Control Independent Joint Control of the Robot • Dynamic Models • Computed Torque Methods • Adaptive Control • Resolved Motion Control • Compliant Motion • Flexible Manipulators 101.3 Applications Justification • Implementation Strategies • Applications in Manufacturing • Emerging Issues 101.1 Robot Configuration Ty A. Lasky and Tien C. Hsia Configuration is a fundamental classification for industrial robots. Configuration refers to the geometry of the robot manipulator, i.e., the manner in which the links of the manipulator are connected at each joint. The Robotic Industries Association (RIA) defines a robot as a manipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks. With this definition, attention here is focused on industrial manipulator arms, typically mounted on a fixed pedestal base. Mobile robots and hard automation [e.g., Computer Numerical Control (CNC) machines] are excluded. The emphasis here is on serial-chain manipulator arms, which consist of a serial chain of linkages, where each link is connected to exactly two other links, with the exception of the first and last, which are connected to only one other link. Additionally, the first three links, called the major linkages, are focused on, with only a brief mention of the last three links, or wrist joints, also called the minor linkages. Robot configuration is an important consideration in the selection of a manipulator. Configuration refers to the way the manipulator links are connected at each joint. Each link will be connected to the subsequent link by either a linear (sliding or prismatic) joint, which can be abbreviated with a P, or a revolute (or rotary) joint, abbreviated with an R. Using this notation, a robot with three revolute joints would be abbreviated as RRR, while one with a rotary joint followed by two linear (prismatic) joints would be denoted RPP. Each configuration type is well suited to certain types of tasks and ill suited to others. Some configurations are more versatile than others. In addition to the geometrical considerations, robot configuration affects the structural stiffness of the robot, which may be an important consideration. Also, configuration impacts the complexity of the forward and inverse kinematics, which are the mappings between the robot actuator (joint) space, and the Cartesian position and orientation of the robot end-effector, or tool. There are six major robot configurations commonly used in industry. Details for each configuration are presented in subsequent subsections. The simplest configuration is the Cartesian robot, which consists of three orthogonal, linear joints (PPP), so that the robot moves in the x, y, and z directions in the joint space. The Ty A. Lasky University of California, Davis Tien C. Hsia University of California, Davis R. Lal Tummala Michigan State University Nicholas G. Odrey Lehigh University