An Introduction to Robot Technology by Philippe Coiffet, Michael Chirouze.

Robotics is now a well established field of endeavour both in industry and research laboratories. There is a danger that the word may be widely in areas where it is inappropriate, so knowing precisely what used even a robot is, how it is controlled and how it may be used in specific applications is...

Full description

Saved in:
Bibliographic Details
Main Authors: Coiffet, Philippe. (Author,, Chirouze, Michael. (
Corporate Author: SpringerLink (Online service)
Format: Electronic eBook
Published: Dordrecht : Springer Netherlands : Imprint: Springer, 1983.
Edition:1st ed. 1983.
Series:Springer eBook Collection.
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 1Robotics: an introduction
  • Areas of application of robotics
  • The new industrial revolution
  • The aim of this book
  • 2Robots and robots in use
  • Origin of the word ‘robot’
  • Definition of the word ‘robot’
  • Characteristic properties of a robot
  • General structure of a robot
  • The robot environment
  • Task description
  • Role of the computer
  • Typical industrial robot
  • Classification of robots
  • Robot generations
  • Existing robots and the robot market
  • 3Representation of a robot
  • Functional representation
  • Graphical representation
  • Arms: structures in use
  • Structure of end effectors
  • 4Degrees of freedom of a robot
  • Degrees of freedom of a rigid object
  • Degrees of freedom of a robot
  • Degrees of freedom specific to a tool
  • Degrees of freedom and mobility
  • 5Basic principles of control
  • Variables to be handled
  • The main levels of control
  • 6Control based on the geometrical model
  • Geometrical model: a much Simplified robot model
  • Geometrical or positional control
  • 7Control based on the kinematic model
  • Kinematic model: a simplified robot model
  • Variational control
  • Characteristics of kinematic control
  • Models and dynamic control
  • 8Actuator servocontrol
  • Principles of servocontrol
  • Mathematical study of a servo-system
  • Specific practical problems involved in the use of a robot servo-system
  • 9Robot actuators
  • Pneumatic actuators
  • Hydraulic actuators
  • Servocontrolled hydraulic systems
  • Electrical actuators
  • Servocontrolled electrical motors
  • Transmission systems
  • Conclusions
  • 10Internal sensors
  • Movement or position sensors
  • Speed sensors
  • Stress sensors
  • Acceleration sensors
  • 11External sensors
  • Applications of external sensors
  • Tactile sensors
  • Stress sensors
  • Proximity sensors
  • Visual sensors
  • 12Computer control
  • Analog-digital, digital-analog converters
  • Other types of converter used in robotics
  • The program
  • Conclusions
  • 13Robot training and trajectory generation
  • Methods of recording trajectories
  • Manual control used in training
  • Trajectory generation
  • Trajectories in the task space and in the articulated variable space
  • Control languages
  • Conclusions
  • References
  • 14Robot performance and standards
  • What is robot performance?
  • Task performance
  • Human performance in robot control
  • Economic performance
  • Performance standards
  • 15Robots in use
  • Examples of uses
  • End effector components
  • Conclusions
  • Use of matrix calculations
  • Handling real term matrices: a summary
  • Components of a vector in an orthogonal set of coordinates
  • Transformation of coordinate set
  • Specific examples useful for modelling and control of robots
  • Inverse transformation
  • Definitions and equations
  • Working principles
  • Motor with induction control
  • Motor with armature control
  • Problems associated with dynamic control
  • Dynamic control
  • Effects of gravitational force.