Theory of Automatic Robot Assembly and Programming / Edition 1

by B.O. Nnaji

Overview

Machines will gradually become programmed using computers which have the knowledge of how the objects in the world relate to one another. This book capitalizes on the fact that products which are manufactured can be designed on the computer and that information about the product such as its physical shape provide powerful information to reason about how to develop the process plan for their manufacture. This book explores the whole aspect of using the principles of how parts behave naturally to automatically generate programs that govern how to produce them. The last decade saw tremendous work on how machines can be programmed to perform a variety of tasks automatically. Robotics has witnessed the most work on programming techniques. But it was not until the emergence of the advanced CAD system as a proper source of information representation about objects which are to be manipulated by the robot that it became viable for automated processors to generate robot programs without human interface. It became possible for objects to be described and for principles about how they interact in the world to be developed. The functions which the features designed into the objects serve for the objects can be adequately represented and used in reasoning about the manufacturing of the parts using the robot. This book describes the necessary principles which must be developed for a robot to generate its own programs with the knowledge of the world in the CAD system.

Product Details

ISBN-13:	9780412393105
Publisher:	Springer Netherlands
Publication date:	12/31/1992
Edition description:	1993
Pages:	306
Product dimensions:	6.10(w) x 9.25(h) x 0.03(d)
Age Range:	18 Years

Table of Contents

1 Machine programming.- 1.1 Introduction.- 1.2 Problems of machine reasoning.- 1.3 Robot programming.- 1.4 Machine task-level programming.- 1.5 Organization of this book.- 2 CAD in automatic machine programming.- 2.1 Introduction.- 2.2 Desired CAD data.- 2.3 Feature, feature classification and representation.- 2.4 Feature reasoning for mechanical components.- 3 Spatial relationships.- 3.1 Introduction.- 3.2 Background.- 3.3 Spatial relationships.- 3.4 Product specification attributes.- 3.5 Applications.- 4 Structure of an automatic robot programmer.- 4.1 Introduction.- 4.2 An overview of RALPH.- 4.3 World knowledge database.- 4.4 RALPH commands.- 4.5 Mathematical consideration.- 4.6 Task planner.- 4.7 An example of assembly task.- 4.8 Programming issues.- 4.9 Discussion.- 5 Sensors and representation.- 5.1 Background.- 5.2 Internal and external sensors.- 5.3 Sensor fusion.- 5.4 Sensor architecture.- 5.5 Representation.- 5.6 Probability of sensor usage.- 5.7 Processing.- 6 World modeling and task specification.- 6.1 World modeling.- 6.2 Task specification.- 6.3 Assembly stability model.- 6.4 Designing for stability.- 6.5 Relative stability.- 6.6 Summary.- 7 Gross motion planning and collision avoidance.- 7.1 Introduction.- 7.2 Gross motion in RALPH.- 7.3 Robot motion planning problems.- 7.4 The path planning algorithm.- 7.5 Discussion.- 7.6 Summary.- 8 Grasp planning.- 8.1 Introduction.- 8.2 Background.- 8.3 World spatial relationships in grasping.- 8.4 Grasping concepts.- 8.5 Design and implementation.- 8.6 Summary.- 9 Trajectory planning and control.- 9.1 Introduction.- 9.2 Evaluation of trajectories.- 9.3 Other trajectory evaluation approaches.- 9.4 Background material.- 9.5 Robots with more than 3 degrees of freedom.- 9.6 Evaluation and analysis.- 9.7 Summary.- 10 Considerations for generic kinematic structures.- 10.1 Introduction.- 10.2 Kinematic structures.- 10.3 Kinematic implementation.- 10.4 Kinematic analysis.- 10.5 Example.- 10.6 Pattern of kinematic behavior.- 10.7 Summary.- 11 Program synthesis and other planners.- 11.1 Introduction.- 11.2 Spanning vector for assembly directions and other applications.- 11.3 Precedence generation.- 11.4 Fine motion planning.- 11.5 Program synthesis.- References.

Editorial Reviews

This book is appropriate for a course in robot programming, machine programming and robotic assembly. It can also serve as a major part of a course in robotics or any other automated manufacturing course. - Inspec - The Institute of Electrical Engineers; The material is well laid out and presented in a logical fashion...For any serious worker in assembly, either in an industrial context or as an academic researcher, this book will be extremely valuable. - Int.J.Prod.Res.

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