Title
Contents
PART 1 Fundamentals of Robotics
1. Introduction
1.1 Automation and Robotics
1.2 Robotics in Science Fiction
1.3 A Brief History of Robotics
1.4 The Robotics Market and the Future Prospects
Review Questions
References
2. Fundamentals of Robot Technology, Programming, and Applications
2.1 Robot Anatomy
2.2 Work Volume
2.3 Robot Drive Systems
2.4 Control Systems
2.5 Precision of Movement
2.6 End Effectors
2.7 Robotic Sensors
2.8 Robot Programming and Work Cell Control
2.9 Robot Applications
Problems
References
PART 2 Robot Technology: The Robot and its Peripherals
3. Control Systems and Components
3.1 Basic Control Systems Concepts and Models
3.2 Controllers
3.3 Control System Analysis
3.4 Robot Sensors and Actuators
3.6 Velocity Sensors
3.7 Actuators
3.8 Power Transmissions Systems
3.9 Modeling and Control of a Single Joint Robot
Problems
References
4. Robot Motion Analysis and Control
4.1 Introduction to Manipulator Kinematics
4.2 Homogeneous Transformations and Robot Kinematics
4.3 Manipulator Path Control
4.4 Robot Dynamics
Problems
References
5. Robot End Effectors
5.1 Types of End Effectors
5.2 Mechanical Grippers
5.3 Other Types of Grippers
5.4 Tools as End Effectors
5.5 The Robot/End Effector Interface
5.6 Considerations in Gripper Selection and Design
Problems
References
6. Sensors in Robotics
6.1 Transducers and Sensors
6.2 Sensors in Robotics
6.3 Tactile Sensors
6.4 Proximity and Range Sensors
6.5 Miscellaneous Sensors and Sensor Based Systems
6.6 Uses of Sensors in Robotics
Problems
References
7. Machine Vision
7.1 Introduction to Machine Vision
7.2 The Sensing and Digitizing Function in Machine Vision
7.3 Image Processing and Analysis
7.4 Training the Vision System
7.5 Robotic Applications
Problems
References
8. Robot Programming
8.1 Methods of Robot Programming
8.2 Leadthrough Programming Methods
8.3 A Robot Program as a Path in Space
8.4 Motion Interpolation
8.5 Wait, Signal, and Delay Commands
8.6 Branching
8.7 Capabilities and Limitations of Leadthrough Methods
Problems
References
PART 3 Robot Programming and Languages
9. Robot Languages
9.1 The Textual Robot Languages
9.2 Generations of Robot Programming Languages
9.3 Robot Language Structure
9.4 Constants, Variables, and Other Data Objects
9.5 Motion Commands
9.6 End Effector and Sensor Commands
9.7 Computations and Operations
9.8 Program Control and Subroutines
9.9 Communications and Data Processing
9.10 Monitor Mode Commands
Problems
Review Questions
References
Appendix 9A Programming the Maker Robot
Appendix 9B VAL II
Appendix 9C RAIL
Appendix 9D AML
10. Artificial Intelligence
10.1 Introduction
10.2 Goals of AI Research
10.3 AI Techniques
10.4 LISP Programming
10.5 AI and Robotics
10.6 LISP in the Factory
10.6 Robotic Paradigms
Problems
References
PART 4 Applications Engineering for Manufacturing
11. Robot Cell Design and Control
11.1 Robot Cell Layouts
11.2 Multiple Robots and Machine Interference
11.3 Other Considerations in Workcell Design
11.4 Workcell Control
11.5 Interlocks
11.6 Error Detection and Recovery
11.7 The Workcell Controller
11.8 Robot Cycle Time Analysis
11.9 Graphical Simulation of Robotic Workcells
Problems
References
12. Economic Analysis for Robotics
12.1 Economic Analysis: Basic Data Required
12.2 Methods of Economic Analysis
12.3 Subsequent use of the Robot
12.4 Differences in Production Rates
12.6 Robot Project Analysis Form
Problems
References
13. Material Transfer and Machine Loading/Unloading
13.1 General Considerations in Robot Material Handling
13.2 Material Transfer Applications
13.3 Machine Loading and Unloading
Problems
References
PART 5 Robot Applications in Manufacturing
14. Processing Operations
14.1 Spot Welding
14.2 Continuous Arc Welding
14.3 Spray Coating
14.4 Other Processing Operations using Robots
Problems
References
15. Assembly and Inspection
15.1 Assembly and Robotic Assembly Automation
15.2 Parts Presentation Methods
15.3 Assembly Operations
15.4 Compliance and the Remote Center Compliance (RCC) Device
15.6 Adaptable-Programmable Assembly System
15.7 Designing for Robotic Assembly
15.8 Inspection Automation
References
PART 6 Implementation Principles and Issues
16. An Approach for Implementing Robotics
16.1 Initial Familiarization with Robotics Technology
16.2 Plant Survey to Identify Potential Applications
16.3 Selection of the Best Application
16.4 Selection of the Robot
16.5 Detailed Economic Analysis and Capital Authorization
16.6 Planning and Engineering the Installation
16.7 Installation
References
17. Safety, Training, Maintenance, And Quality
17.1 Safety in Robotics
17.2 Training
17.3 Maintenance
Problems
References
PART 7 Social Issues and the Future of Robotics
18. Social and Labor Issues
18.1 Productivity and Capital Formation
18.2 Robotics and Labor
18.3 Education and Training
18.4 International Impacts
18.5 Other Applications
Problems
References
19. Robotics Technology of the Future
19.1 Robot Intelligence
19.2 Advanced Sensor Capabilities
19.3 Telepresence and Related Technologies
19.4 Mechanical Design Features
19.5 Mobility, Locomotion, and Navigation
19.6 The Universal Hand
19.7 Systems Integration and Networking
References
20. Future Applications
20.1 Characteristics of Future Robot Tasks
20.2 Future Manufacturing Applications of Robots
20.3 Hazardous and Inaccessible Non-Manufacturing Environments
20.4 Service Industry and Similar Applications
20.5 Summary
Problems
References
Index
