Robotics / Edition 1

Robotics / Edition 1

by Tadej Bajd, Matja# Mihelj, Jadran Lenarcic, Ale# Stanovnik
     
 

ISBN-10: 9048137756

ISBN-13: 9789048137756

Pub. Date: 03/01/2010

Publisher: Springer Netherlands

This introductory text treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories;

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Overview

This introductory text treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and finally, robot standards and safety are briefly dealt with. The book concludes with a glossary in English, French and German.

This volume is supplementary reading for courses in robotics or industrial robotics and requires minimal knowledge of physics and mathematics.

Product Details

ISBN-13:
9789048137756
Publisher:
Springer Netherlands
Publication date:
03/01/2010
Series:
Intelligent Systems, Control and Automation: Science and Engineering Series, #43
Edition description:
2010
Pages:
152
Product dimensions:
6.40(w) x 9.30(h) x 0.70(d)

Table of Contents

1 Introduction 1

1.1 Degree of freedom 2

1.2 Robot manipulator 3

1.3 Robot arms 5

1.4 Robot manipulators in industrial environment 7

2 Homogenous transformation matrices 9

2.1 Translational transformation 9

2.2 Rotational transformation 10

2.3 Pose and displacement 13

2.4 Geometrical robot model 17

3 Geometric description of the robot mechanism 23

3.1 Vector parameters of a kinematic pair 23

3.2 Vector parameters of the mechanism 26

4 Two-segment robot manipulator 33

4.1 Kinematics 33

4.2 Workspace 39

4.3 Dynamics 44

5 Robot sensors 49

5.1 Principles of sensing 49

5.2 Sensors of movement 50

5.2.1 Placing of sensors 50

5.2.2 Potentiometer 51

5.2.3 Optical encoder 52

5.2.4 Tachometer 56

5.3 Forte sensors 56

5.4 Robot vision 58

6 Trajectory planning 67

6.1 Interpolation of the trajectory between two points 67

6.2 Interpolation by use of via points 70

7 Robot control 77

7.1 Control of the robot in internal coordinates 79

7.1.1 PD control of position 79

7.1.2 PD control of position with gravity compensation 80

7.1.3 Control of the robot based on inverse dynamics 82

7.2 Control of the robot in external coordinates 85

7.2.1 Control based on the transposed Jacobian matrix 85

7.2.2 Control based on the inverse Jacobian matrix 87

7.2.3 PD control of position with gravity compensation 87

7.2.4 Control of the robot based on inverse dynamics 88

7.3 Control of the contact force 89

7.3.1 Linearization of a robot system through inverse dynamics 92

7.3.2 Force control 93

8 Robot environment 97

8.1 Robot grippers 97

8.2 Feeding devices 101

8.3 Robot assembly 107

9 Standards and safety in robotics 119

Robot vocabulary 133

Further reading 149

Index 151

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