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Robot Motion Analysis and Control 83: 55 57 60 65 66 71 74 Problems 78 References 82

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24 views3 pages

Robot Motion Analysis and Control 83: 55 57 60 65 66 71 74 Problems 78 References 82

Uploaded by

prabhatkumar95042
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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vi Contents

3.2 Controllers 55
3.3 Control System Analysis 57
3.4 Robot Sensors and Actuators 60
3.6 Velocity Sensors 65
3.7 Actuators 66
3.8 Power Transmissions Systems 71
3.9 Modeling and Control of a Single Joint Robot 74
Problems 78
References 82

4. Robot Motion Analysis and Control 83


4.1 Introduction to Manipulator Kinematics 83
4.2 Homogeneous Transformations and Robot Kinematics 89
4.3 Manipulator Path Control 100
4.4 Robot Dynamics 103
108
Problems 109
References 113

5. Robot End Effectors 115


5.1 Types of End Effectors 115
5.2 Mechanical Grippers 117
5.3 Other Types of Grippers 124
5.4 Tools as End Effectors 130
5.5 The Robot/End Effector Interface 131
5.6 Considerations in Gripper Selection and Design 135
Problems 137
References 140

6. Sensors in Robotics 141


6.1 Transducers and Sensors 141
6.2 Sensors in Robotics 142
6.3 Tactile Sensors 144
6.4 Proximity and Range Sensors 152
6.5 Miscellaneous Sensors and Sensor Based Systems 154
6.6 Uses of Sensors in Robotics 154
Problems 156
References 158

7. Machine Vision 159


7.1 Introduction to Machine Vision 160
Contents vii

7.2 The Sensing and Digitizing Function in Machine Vision 162


7.3 Image Processing and Analysis 170
7.4 Training the Vision System 178
7.5 Robotic Applications 178
Problems 181
References 183

PART 3 Robot Programming and Languages


8. Robot Programming 187
8.1 Methods of Robot Programming 187
8.2 Leadthrough Programming Methods 188
8.3 A Robot Program as a Path in Space 189
8.4 Motion Interpolation 194
8.5 Wait, Signal, and Delay Commands 198
8.6 Branching 201
8.7 Capabilities and Limitations of Leadthrough Methods 207
Problems 208
References 209

9. Robot Languages 211


9.1 The Textual Robot Languages 211
9.2 Generations of Robot Programming Languages 212
9.3 Robot Language Structure 216
9.4 Constants, Variables, and Other Data Objects 218
9.5 Motion Commands 219
9.6 End Effector and Sensor Commands 224
9.7 Computations and Operations 228
9.8 Program Control and Subroutines 229
9.9 Communications and Data Processing 235
9.10 Monitor Mode Commands 237
Problems 238
Review Questions 242
References 242
Appendix 9A Programming the Maker Robot 244
Appendix 9B VAL II 252
Appendix 9C RAIL 261
Appendix 9D AML 270
viii Contents

10.1 Introduction 283


10.2 Goals of AI Research 283
10.3 AI Techniques 284
10.4 LISP Programming 292
10.5 AI and Robotics 296
10.6 LISP in the Factory 297
10.6 Robotic Paradigms 299
Problems 300
References 301

PART 4 Applications Engineering for Manufacturing


11. Robot Cell Design and Control 305
11.1 Robot Cell Layouts 305
11.2 Multiple Robots and Machine Interference 310
11.3 Other Considerations in Workcell Design 312
11.4 Workcell Control 313
11.5 Interlocks 317
11.6 Error Detection and Recovery 318
11.7 The Workcell Controller 321
11.8 Robot Cycle Time Analysis 325
11.9 Graphical Simulation of Robotic Workcells 330
Problems 336
References 338

12. Economic Analysis for Robotics 340


12.1 Economic Analysis: Basic Data Required 340
12.2 Methods of Economic Analysis 343
12.3 Subsequent use of the Robot 346
12.4 Differences in Production Rates 347
349
12.6 Robot Project Analysis Form 351
Problems 352
References 354

PART 5 Robot Applications in Manufacturing


13. Material Transfer and Machine Loading/Unloading 357
13.1 General Considerations in Robot Material Handling 357
13.2 Material Transfer Applications 358

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