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...
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| Main Authors: | , |
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| Format: | Electronic eBook |
| Language: | English |
| Published: |
Dordrecht :
Springer Netherlands : Imprint: Springer,
1983.
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| Edition: | 1st ed. 1983. |
| Series: | Springer eBook Collection.
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| Subjects: | |
| 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.