| Description |
xxi, 325 pages : illustrations ; 24 cm |
| Series |
Prentice-Hall industrial robots series |
|
Prentice-Hall industrial robots series.
|
| Contents |
Machine derived contents note: Preface xiii -- Notes to the Instructor xvii -- 1 Overview of Robots 1 -- 1.1 Background 1 -- 1.2 Some Robotics Terms 2 -- 1.3 Manipulator Geometries 3 -- 1.4 Types of Industrial Manipulators 10 -- 1.5 Components of a Robot System 11 -- 1.6 Overview: What is in this book? 14 -- 1.7 Synopsis 15 -- 1.8 Problems 16 -- 2 Sensing Position and Velocity 17 -- 2.1 The Digital-to-Analog Converter 18 -- 2.2 The Analog-to-Digital Converter 19 -- 2.3 Analog Measurements of Position 24 -- 2.4 Digital Measurements of Position and Velocit -- 2.5 Position Counting Hardware 27 -- 2.6 Hardware for Measuring Velocity 33 -- 2.7 Determining Direction 36 -- 2.8 Estimating Actual Velocity from the -- Measurement 37 -- 2.9 Conclusion and a Design Alternative 37 -- 2.10 Synopsis 38 -- 2.11 References 39 -- 2.12 Problems 39 -- 3 Noise in Digital Circuits 41 -- 3.1 Sources of Noise 42 -- 3.2 External Noise and the Schmitt Trigger 43 -- 3.3 Cross-Talk 45 -- 3.4 Shielding: Suppression of External Noise 45 -- 3.5 Grounding 47 -- 3.6 Transmission Line Effects 50 -- 3.7 Ice Spikes 60 -- 3.8 Synopsis 64 -- 3.9 References 65 -- 3.10 Problems 66 -- 4 Actuators 67 -- 4.1 The DC Motor 67 -- 4.2 Step Motors 76 -- 4.3 Hydraulic Actuators 80 -- 4.4 Pneumatic Actuators 83 -- 4.5 Synopsis 85 -- 4.6 References 87 -- 4.7 Problems 87 -- 5 Control 89 -- 5.1 Proportional Error Control 89 -- 5.2 The Steady-State Error Problem 93 -- 5.3 The Overshoot Problem 94 -- 5.4 The Sampled-Data Controller 96 -- 5.5 The Voltage-Controlled DC Motor 98 -- 5.6 Choosing Servo Gains 99 -- 5.7 Choosing the Controlled Variable 102 -- 5.8 Synopsis 104 -- 5.9 References 106 -- 5.10 Problems 106 -- 6 Robot Coordinate Systems 107 -- 6.1 On Position and Orientation 107 -- 6.2 Coordinate Systems-Relative Frames 109 -- 6.3 Rotations 111 -- 6.4 Homogeneous Coordinates 112 -- 6.5 Coordinate Frames 115 -- 6.6 Synopsis 121 -- 6.7 Problems 122 -- 7 Kinematics of Position 125 -- 7.1 Relations Between Links and Joints 125 -- 7.2 Determining Orientation: An Inverse Problem 133 -- 7.3 The Arm Solution 139 -- 7.4 Problems in Computing Kinematics 145 -- 7.5 Conclusion 146 -- 7.6 Synopsis 146 -- 7.7 References 147 -- 7.8 Problems 148 -- Appendix Coordinate Frame Definitions- -- Prismatic Joints 148 -- 8 Differential Motions and the Jacobian 151 -- 8.1 Differential Motion 152 -- 8.2 The Jacobian 156 -- 8.3 The Inverse Jacobian 1 70 -- 8.4 Conclusion 174 -- 8.5 Synopsis 174 -- 8.6 References 175 -- 8.7 Problems 176 -- 9 Path Control 178 -- 9.1 Path Recording 179 -- 9.2 Cartesian Motion 180 -- 9.3 Joint Interpolated Control 193 -- 9.4 Conclusion 197 -- 9.5 Synopsis 198 -- 9.6 References 199 -- 9.7 Problems 200 -- 10 Kinetics 201 -- 10.1 Deriving the Kinetics 202 -- 10.2 Forces and Torques 206 -- 10.3 The Complexity of the Solution 208 -- 10.4 Using Kinetic Equations 209 -- 10.5 Choosing Servo Gains 211 -- 10.6 Conclusion 212 -- 10.7 Synopsis 213 -- 10.8 References 214 -- 10.9 Problems 215 -- 11 Force Control and Compliance 216 -- 11.1 A Force Control Problem 216 -- 11.2 Transforming Forces and Moments 219 -- 11.3 Direct Sensing 223 -- 11.4 Compliance 224 -- 11.5 Hybrid Control 226 -- 11.6 Conclusion 232 -- 11.7 Synopsis 232 -- 11.8 References 233 -- 11.9 Problems 234 -- 12 Sensors 235 -- 12.1 Touch Sensors 235 -- 12.2 Proximity Sensors 240 -- 12.3 Ultrasonic Ranging 243 -- 12.4 Conclusion 245 -- 12.5 Synopsis 246 -- 12.6 References 246 -- 12.7 Problems 247 -- 13 Computer Vision 248 -- 13.1 Fundamentals 248 -- 13.2 Image Processing Functions 257 -- 13.3 Image Acquisition Hardware 259 -- 13.4 Segmentation 262 -- 13.5 Shape Descriptors 268 -- 13.6 Using Shape Descriptors 271 -- 13.7 Structured Illumination 274 -- 13.8 Conclusion 278 -- 13.9 Synopsis 279 -- 13.10 References 280 -- 13.11 Problems 281 -- "14 Computational Architectures 284 -- 14.1 Software Speed-Ups 284 -- 14.2 Computational Alternatives: Hardware 288 -- 14.3 Semicustom Hardware 292 -- 14.4 Hierarchical Control 293 -- 14.5 Conclusion 297 -- 14.6 Synopsis 297 -- 14.7 References 298 -- 14.8 Problems 298 -- 15 Robot Programming Languages 300 -- 15.1 The Hardware Level 300 -- 15.2 The Point-To-Point Level 301 -- 15.3 The Motion Level 303 -- 15.4 Structured Programming Level 306 -- 15.5 Task-Oriented Level 312 -- 15.6 Conclusion 313 -- 15.7 References 313 |
| Analysis |
Industrial robots Control Applications of computer systems |
| Bibliography |
Includes bibliographies and index |
| Notes |
Also issued online |
| Subject |
Computer interfaces.
|
|
Robots, Industrial.
|
|
Computer interfaces.
|
|
Robots, Industrial.
|
| LC no. |
84013321 |
| ISBN |
0134631595 |
|
0134631919 (International edition) |
|
