Crc Press - Mechanical Engineering Handbook - Robotics 1 Part 1 docx

Lewis, F.L.; et. al. “Robotics” Mechanical Engineering Handbook Ed. Frank Kreith Boca Raton: CRC Press LLC, 1999 c  1999byCRCPressLLC 14 -1 © 1999 by CRC Press LLC Robotics 14.1Introduction 14-2 14.2Commercial Robot Manipulators 14-3 Commercial Robot Manipulators • Commercial Robot Controllers 14.3Robot Configurations 14-15 Fundamentals and Design Issues • Manipulator Kinematics • Summary 14.4End Effectors and Tooling 14-24 A Taxonomy of Common End Effectors • End Effector Design Issues • Summary 14.5Sensors and Actuators 14-33 Tactile and Proximity Sensors • Force Sensors • Vision • Actuators 14.6Robot Programming Languages 14-48 Robot Control • System Control • Structures and Logic • Special Functions • Program Execution • Example Program • Off-Line Programming and Simulation 14.7Robot Dynamics and Control 14-51 Robot Dynamics and Properties • State Variable Representations and Computer Simulation • Cartesian Dynamics and Actuator Dynamics • Computed-Torque (CT) Control and Feedback Linearization • Adaptive and Robust Control • Learning Control • Control of Flexible-Link and Flexible-Joint Robots • Force Control • Teleoperation 14.8Planning and Intelligent Control 14-69 Path Planning • Error Detection and Recovery • Two-Arm Coordination • Workcell Control • Planning and Artifical Intelligence • Man-Machine Interface 14.9Design of Robotic Systems 14-77 Workcell Design and Layout • Part-Feeding and Transfers 14.10Robot Manufacturing Applications 14-84 Product Design for Robot Automation • Economic Analysis • Assembly 14.11Industrial Material Handling and Process Applications of Robots 14-90 Implementation of Manufacturing Process Robots • Industrial Applications of Process Robots 14.12Mobile, Flexible-Link, and Parallel-Link Robots 14-102 Mobile Robots • Flexible-Link Robot Manipulators • Parallel- Link Robots Frank L. Lewis University of Texas at Arlington John M. Fitzgerald University of Texas at Arlington Ian D. Walker Rice University Mark R. Cutkosky Stanford University Kok-Meng Lee Georgia Tech Ron Bailey University of Texas at Arlington Frank L. Lewis University of Texas at Arlington Chen Zhou Georgia Tech John W. Priest University of Texas at Arlington G. T. Stevens, Jr. University of Texas at Arlington John M. Fitzgerald University of Texas at Arlington Kai Liu University of Texas at Arlington . al. Robotics Mechanical Engineering Handbook Ed. Frank Kreith Boca Raton: CRC Press LLC, 19 99 c  19 99byCRCPressLLC 14 -1 © 19 99 by CRC Press LLC Robotics 14 .1Introduction 1 4-2 14 .2Commercial. Intelligence • Man-Machine Interface 14 .9Design of Robotic Systems 1 4-7 7 Workcell Design and Layout • Part- Feeding and Transfers 14 .10 Robot Manufacturing Applications 1 4-8 4 Product Design. Manipulators 1 4-3 Commercial Robot Manipulators • Commercial Robot Controllers 14 .3Robot Configurations 1 4 -1 5 Fundamentals and Design Issues • Manipulator Kinematics • Summary 14 .4End Effectors