Engineering - Mechanical Engineering Handbook - Robotics (19

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Engineering - Mechanical Engineering Handbook - Robotics (1999).pdf

Lewis, F.L.; et. al. “Robotics?
Mechanical Engineering Handbook
Ed. Frank Kreith
Boca Raton: CRC Press LLC, 1999
D.L.
14.1 Introduction....................................................................14-2
14.2 Commercial Robot Manipulators...................................14-3
Commercial Robot Manipulators ?Commercial Robot
Controllers
14.3 Robot Configurations ...................................................14-15
Fundamentals and Design Issues ?Manipulator Kinematics ?
Summary
14.4 End Effectors and Tooling...........................................14-24
A Taxonomy of Common End Effectors ?End Effector Design
Issues ?Summary
14.5 Sensors and Actuators..................................................14-33
Tactile and Proximity Sensors ?Force Sensors ?Vision ?
Actuators
14.6 Robot Programming Languages ..................................14-48
Robot Control ?System Control ?Structures and Logic ?
Special Functions ?Program Execution ?Example Program ?
Off-Line Programming and Simulation
14.7 Robot 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
14.8 Planning and Intelligent Control..................................14-69
Path Planning ?Error Detection and Recovery ?Two-Arm
Coordination ?Workcell Control ?Planning and Artifical
Intelligence ?Man-Machine Interface
14.9 Design of Robotic Systems..........................................14-77
Workcell Design and Layout ?Part-Feeding and Transfers
14.10 Robot Manufacturing Applications..............................14-84
Product Design for Robot Automation ?Economic Analysis ?
Assembly
14.11 Industrial Material Handling and Process Applications of
Robots...........................................................................14-90
Implementation of Manufacturing Process Robots ?Industrial
Applications of Process Robots
14.12 Mobile, Flexible-Link, and Parallel-Link Robots .....14-102
Mobile Robots ?Flexible-Link Robot Manipulators ?Parallel-
Link Robots

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