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An Introduction to Robot Technology

BuchKartoniert, Paperback
198 Seiten
Englisch
Springer Netherlandserschienen am23.02.2012Softcover reprint of the original 1st ed. 1983
Robotics is now a well established field of endeavour both in industry and research laboratories. Igor Aleksander July 1983 Chapter 1 Robotics: an introduction As a result of the great advances of the last few years many industrial processes have become largely automated, with the human operator playing an ever decreasing role.mehr
Verfügbare Formate
BuchKartoniert, Paperback
EUR53,49
E-BookPDF1 - PDF WatermarkE-Book
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Produkt

KlappentextRobotics is now a well established field of endeavour both in industry and research laboratories. Igor Aleksander July 1983 Chapter 1 Robotics: an introduction As a result of the great advances of the last few years many industrial processes have become largely automated, with the human operator playing an ever decreasing role.
Details
ISBN/GTIN978-94-011-6102-2
ProduktartBuch
EinbandartKartoniert, Paperback
Erscheinungsjahr2012
Erscheinungsdatum23.02.2012
AuflageSoftcover reprint of the original 1st ed. 1983
Seiten198 Seiten
SpracheEnglisch
Gewicht331 g
Illustrationen198 p.
Artikel-Nr.29947695

Inhalt/Kritik

Inhaltsverzeichnis
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.mehr